A communication method and a communication device

Abstract

The application relates to the communication technical field, and discloses a communication method and a communication device. In the method, the coordinates of points corresponding to a target object are clustered to obtain the coordinates of n clustering center points and n groups, the coordinates of the points in m groups of the n groups are sent, and the coordinates of the points in the remaining n-m groups are not sent, so that the transmission amount of sensing data can be reduced, and the transmission cost and transmission delay of the sensing data can be reduced. The receiving end can obtain the coordinates of all or most of the points in the m groups, accurately know the high-precision features of the local area corresponding to the coordinates of the points in the m groups, and then accurately determine the coordinates of the points in the remaining n-m groups by using the high-precision features of the local position, the coordinates of the points in the remaining n-m groups reflecting the high-precision features of other local positions of the target object, so that high-precision reconstruction of the coordinates of the points corresponding to the target object is realized.

Description

Technical Field

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

[0002] In 5G and future communication technologies, there are numerous sensing and transmission scenarios. The transmitting end needs to send a large amount of sensing data to the receiving end, which then uses this data to reconstruct the environment. This sensing data can include the coordinates of points corresponding to target objects obtained using sensing technology.

[0003] When transmitting large amounts of sensing data, it is necessary to consider both the cost and latency of data transmission, as well as the reconstruction accuracy at the receiving end. Transmitting all the sensing data will increase overhead (such as latency and resource overhead); transmitting less sensing data will reduce the reconstruction accuracy at the receiving end.

[0004] Further research is needed on how to reduce the transmission cost and latency of sensing data and correspondingly improve reconstruction accuracy. Summary of the Invention

[0005] This application provides a communication method and communication device to reduce the transmission cost and latency of sensing data and correspondingly improve reconstruction accuracy.

[0006] In a first aspect, embodiments of this application provide a communication method, which can be executed by a first communication device. Unless otherwise specified, the "first communication device" in this application can refer to a communication device (e.g., a network device, a terminal device, etc.), a component within that communication device (e.g., a processor, a chip, or a chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the communication device. The network device can be an access network device, a core network device, or other types of device; this application does not limit this. The method includes: the first communication device acquiring the coordinates of n cluster center points and n groups, where the coordinates of the n cluster center points and the n groups are obtained by clustering the coordinates of multiple points corresponding to a target object, and the coordinates of the n cluster center points correspond one-to-one with the n groups, where n is an integer greater than 1; then the first communication device sends the coordinates of the n cluster center points and the coordinates of points within m groups from the n groups to a second communication device, where m is a positive integer less than n.

[0007] Based on the above scheme, on the one hand, the first communication device clusters the coordinates of the points corresponding to the target object to obtain the coordinates of n cluster center points and n groups, and sends the coordinates of the n cluster center points and the coordinates of the points in m groups of the n groups to the second communication device, without sending the coordinates of the points in the remaining nm groups to the second communication device. Therefore, the amount of sensing data transmitted can be reduced, thereby reducing the transmission cost and latency of sensing data. On the other hand, the second communication device can obtain the coordinates of all or most of the points in the m groups. Therefore, it can use the received coordinates of the points in the m groups to accurately determine the high-precision features of the local area corresponding to the coordinates of the points in the m groups. Then, it can use the high-precision features of the local location to accurately determine the coordinates of the points in the remaining nm groups. The coordinates of the points in the remaining nm groups reflect the high-precision features of other local locations of the target object, thereby realizing the high-precision reconstruction of the coordinates of the points corresponding to the target object.

[0008] In one possible implementation, the number of coordinates of points within each of the above m groups is N.

[0009] For example, the above m and N are pre-agreed values, that is, pre-agreed by the first communication device and the second communication device.

[0010] Based on this implementation method, after the first communication device sends the coordinates of n cluster center points and the coordinates of points within m groups out of the n groups to the second communication device, the second communication device determines the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points based on pre-agreed values ​​of m and N. Since m and N are pre-agreed values ​​between the first and second communication devices, there is no need to configure m and N to the first communication device via signaling, thus reducing signaling overhead.

[0011] For example, m and N may also be sent from the second communication device or other communication devices to the first communication device. In one possible implementation, the first communication device further sends first information to the second communication device, which indicates m and n.

[0012] Based on this implementation method, the first communication device autonomously determines the values ​​of m and n, and then uses the first information to instruct the second communication device after determining the values ​​of m and n. This allows the second communication device to accurately determine the values ​​of m and n, thereby improving reconstruction accuracy. Furthermore, since the first communication device autonomously determines the values ​​of m and n, it has greater flexibility when clustering the coordinates of multiple points corresponding to the target object. For example, it can select the most suitable values ​​of m and n based on the number and distribution characteristics of the coordinates of the points corresponding to the target object, which helps improve the reconstruction accuracy at the receiving end.

[0013] In one possible implementation, the first communication device further sends second information to the second communication device. This second information indicates a bit sequence of length n, where the n bits of the bit sequence correspond one-to-one with the coordinates of n cluster centers, the m first bit values ​​in the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers, the coordinates of the m cluster centers correspond one-to-one with the m groups, and the remaining nm second bit values ​​in the bit sequence indicate the coordinates of the remaining nm cluster centers.

[0014] Based on this implementation method, after the first communication device sends the coordinates of n cluster center points, the coordinates of points within m groups out of the n groups, and second information to the second communication device, the second communication device can determine the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points. The position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points is indicated by the aforementioned bit sequence of length n. This implementation method uses a bit sequence to indicate the position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points. Therefore, the second communication device can use this bit sequence to know the positional distribution of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points, which helps improve reconstruction accuracy.

[0015] In one possible implementation, the first communication device also sends a third message to the second communication device, which indicates the number of coordinates of points within each of the m groups.

[0016] Based on this implementation method, the third information indicates to the second communication device the number of coordinates of points in each of the m groups, which helps the second communication device to accurately determine the correspondence between the coordinates of the points in the received groups and the coordinates of the received cluster center points, thereby achieving accurate reconstruction of the coordinates of the points corresponding to the target object.

[0017] In one possible implementation, the first communication device sends the coordinates of n cluster center points and the coordinates of points in m groups out of n groups to the second communication device, including: the first communication device sending s-1 first datasets and 1 second dataset to the second communication device, each of the s-1 first datasets including at least one group out of m groups and the coordinates of the cluster center points corresponding to at least one group, the number of coordinates of points in each group in the at least one group is the same, and the second dataset includes the coordinates of the nm cluster center points corresponding to the remaining nm groups, where s is an integer greater than 1.

[0018] Based on this implementation method, when reporting data, the first communication device reports groups with the same number of point coordinates through the same first dataset, and also reports the coordinates of the corresponding cluster center points through the same first dataset. It then reports the coordinates of other cluster center points through a second dataset. This allows the second communication device to accurately determine the number of point coordinates within each group, which helps it to reconstruct more accurately. Furthermore, the first communication device reports multiple types of groups, each containing a different number of point coordinates, thus differentiating the characteristics of different local areas. This helps reduce the amount of data transmitted and improve the reconstruction accuracy of the second communication device.

[0019] In one possible implementation, the first communication device further sends fourth information to the second communication device, the fourth information indicating the number of groups and the number of coordinates of points within each of the s-1 first datasets, and indicating the number of groups within the second dataset.

[0020] Based on this implementation method, the second communication device is informed of the number of groups and the number of coordinates of points in each of the s-1 first datasets through the fourth information. This helps the second communication device to accurately determine the correspondence between the coordinates of the points in the received groups and the coordinates of the received cluster center points, thereby achieving accurate reconstruction of the coordinates of the points corresponding to the target object.

[0021] In one possible implementation, the methods for sending the first, second, and fourth information described above are parallel technical solutions, that is, the first communication device sends the first, second, or fourth information to the second communication device. When sending the first or second information to the second communication device, the first communication device may also send the third information. For example, the first communication device sends a signaling message to the second communication device that includes both the first and third information, or it sends two signaling messages, one of which includes the first information and the other includes the third information. As another example, the first communication device sends a signaling message to the second communication device that includes both the second and third information, or it sends two signaling messages, one of which includes the second information and the other includes the third information.

[0022] In one possible implementation, the first communication device also receives fifth information from the second communication device, the fifth information indicating the coordinates of points of the target within a first range; the coordinates of points within the n groups do not include the coordinates of points within the first range.

[0023] Based on this implementation method, it is helpful to avoid the repeated reporting of the coordinates of the same point, which can reduce transmission overhead and reduce the processing overhead of the first communication device and the second communication device.

[0024] In one possible implementation, the fifth information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1; the method also includes: determining the coordinates of points within the first range based on the coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points.

[0025] Based on this implementation method, the first range can be accurately represented by the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points. This allows the first communication device to accurately know which points' coordinates do not need to be reported, which helps reduce the repeated reporting of the same point's coordinates and can reduce transmission overhead.

[0026] In one possible implementation, the distance between the coordinates of any two cluster centers among the coordinates of the m cluster centers corresponding to the m groups is greater than or equal to a first threshold.

[0027] Based on this implementation method, the number of groups can be reduced when clustering the coordinates of multiple points corresponding to the target object, and each group contains the coordinates of a large number of points. Therefore, each group can better reflect the local features of the target object, which helps to improve the reconstruction accuracy of the receiving end.

[0028] In one possible implementation, the distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i-th cluster center out of m cluster centers. This represents the coordinates of the 2nd cluster center out of m cluster centers. d represents the distance between the coordinates of the i1th cluster center and the i2th cluster center, and d represents the first threshold.

[0029] In one possible implementation, the overlap between any two groups out of the m groups is less than or equal to a second threshold.

[0030] Based on this implementation method, the coordinates of points within the reported group can be guaranteed to have a low repetition rate. Reducing the reporting of duplicate point coordinates can reduce signaling overhead and help improve the reconstruction accuracy of the receiver.

[0031] In one possible implementation, the overlap between the i1th group and the i2th group among the m groups satisfies: in, This represents the i1-th group out of m groups. This represents the number of coordinates of points within the i1-th group. This represents the i2-th group out of m groups. This represents the number of coordinates of points within the i2-th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1-th group and the i2-th group. Indicates taking and The larger value in the range, where α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

[0032] Secondly, embodiments of this application provide a communication method, which can be executed by a second communication device. Unless otherwise specified, the "second communication device" in this application can refer to a communication device (e.g., a terminal device, network device, etc.), a component within that communication device (e.g., a processor, chip, or chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the communication device. The network device can be an access network device, a core network device, or other types of device; this application does not limit this. The method includes: receiving the coordinates of n cluster center points and the coordinates of points within m groups out of n groups. The coordinates of the n cluster center points and the n groups are obtained by clustering the coordinates of multiple points corresponding to a target object. The coordinates of the n cluster center points correspond one-to-one with the n groups, where n is an integer greater than 1 and m is a positive integer less than n; and determining the coordinates of points within the remaining nm groups based on the coordinates of the n cluster center points and the coordinates of points within the m groups out of the n groups.

[0033] Based on the above scheme, on the one hand, the first communication device clusters the coordinates of the points corresponding to the target object to obtain the coordinates of n cluster center points and n groups, and sends the coordinates of the n cluster center points and the coordinates of the points in m groups of the n groups to the second communication device, without sending the coordinates of the points in the remaining nm groups to the second communication device. Therefore, the amount of sensing data transmitted can be reduced, thereby reducing the transmission cost and latency of sensing data. On the other hand, the second communication device can obtain the coordinates of all or most of the points in the m groups. Therefore, it can use the received coordinates of the points in the m groups to accurately determine the high-precision features of the local area corresponding to the coordinates of the points in the m groups. Then, it can use the high-precision features of the local location to accurately determine the coordinates of the points in the remaining nm groups. The coordinates of the points in the remaining nm groups reflect the high-precision features of other local locations of the target object, thereby realizing the high-precision reconstruction of the coordinates of the points corresponding to the target object.

[0034] In one possible implementation, the number of coordinates of points within each of the m groups is N.

[0035] For example, the above m and N are pre-agreed values, that is, pre-agreed by the first communication device and the second communication device.

[0036] Based on this implementation method, after the first communication device sends the coordinates of n cluster center points and the coordinates of points within m groups out of the n groups to the second communication device, the second communication device determines the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points based on pre-agreed values ​​of m and N. Since m and N are pre-agreed values ​​between the first and second communication devices, there is no need to configure m and N to the first communication device via signaling, thus reducing signaling overhead.

[0037] For example, the above m and N may also be sent to the first communication device by the second communication device or other communication devices.

[0038] In one possible implementation, the second communication device receives first information from the first communication device, the first information indicating m and n.

[0039] Based on this implementation method, the first communication device autonomously determines the values ​​of m and n, and then uses the first information to instruct the second communication device after determining the values ​​of m and n. This allows the second communication device to accurately determine the values ​​of m and n, thereby improving reconstruction accuracy. Furthermore, since the first communication device autonomously determines the values ​​of m and n, it has greater flexibility when clustering the coordinates of multiple points corresponding to the target object. For example, it can select the most suitable values ​​of m and n based on the number and distribution characteristics of the coordinates of the points corresponding to the target object, which helps improve the reconstruction accuracy at the receiving end.

[0040] In one possible implementation, the second communication device receives second information from the first communication device. This second information indicates a bit sequence of length n, where the n bits of the bit sequence correspond one-to-one with the coordinates of n cluster centers. The m first bit values ​​in the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers. The coordinates of the m cluster centers correspond one-to-one with the m groups. The remaining nm second bit values ​​in the bit sequence indicate the coordinates of the remaining nm cluster centers.

[0041] Based on this implementation method, after the first communication device sends the coordinates of n cluster center points, the coordinates of points within m groups out of the n groups, and second information to the second communication device, the second communication device can determine the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points. The position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points is indicated by the aforementioned bit sequence of length n. This implementation method uses a bit sequence to indicate the position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points. Therefore, the second communication device can use this bit sequence to know the positional distribution of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points, which helps improve reconstruction accuracy.

[0042] In one possible implementation, the second communication device receives third information from the first communication device, the third information indicating the number of coordinates of points within each of the m groups.

[0043] Based on this implementation method, the third information indicates to the second communication device the number of coordinates of points in each of the m groups, which helps the second communication device to accurately determine the correspondence between the coordinates of the points in the received groups and the coordinates of the received cluster center points, thereby achieving accurate reconstruction of the coordinates of the points corresponding to the target object.

[0044] In one possible implementation, the second communication device receives the coordinates of n cluster center points and the coordinates of points within m groups out of n groups from the first communication device, including: the second communication device receiving s-1 first datasets and 1 second dataset from the first communication device, each of the s-1 first datasets including at least one group out of m groups and the coordinates of the cluster center points corresponding to at least one group, the number of coordinates of points within each group in the at least one group is the same, and the second dataset including the coordinates of the nm cluster center points corresponding to the remaining nm groups, where s is an integer greater than 1.

[0045] Based on this implementation method, when reporting data, the first communication device reports groups with the same number of point coordinates through the same first dataset, and also reports the coordinates of the corresponding cluster center points through the same first dataset. It then reports the coordinates of other cluster center points through a second dataset. This allows the second communication device to accurately determine the number of point coordinates within each group, which helps it to reconstruct more accurately. Furthermore, the first communication device reports multiple types of groups, each containing a different number of point coordinates, thus differentiating the characteristics of different local areas. This helps reduce the amount of data transmitted and improve the reconstruction accuracy of the second communication device.

[0046] In one possible implementation, the second communication device receives fourth information from the first communication device, the fourth information indicating the number of groups and the number of coordinates of points within each of the s-1 first datasets, and indicating the number of groups in the second dataset.

[0047] Based on this implementation method, the second communication device is informed of the number of groups and the number of coordinates of points in each of the s-1 first datasets through the fourth information. This helps the second communication device to accurately determine the correspondence between the coordinates of the points in the received groups and the coordinates of the received cluster center points, thereby achieving accurate reconstruction of the coordinates of the points corresponding to the target object.

[0048] In one possible implementation, the methods for receiving the first, second, and fourth information described above are parallel technical solutions, that is, the second communication device receives the first, second, or fourth information from the first communication device. Furthermore, while receiving the first or second information from the first communication device, the second communication device can also receive the third information from the first communication device. For example, the second communication device receives a signaling message from the first communication device that includes both the first and third information, or it receives two signaling messages from the first communication device, one of which includes the first information and the other includes the third information. As another example, the second communication device receives a signaling message from the first communication device that includes both the second and third information, or it receives two signaling messages from the first communication device, one of which includes the second information and the other includes the third information.

[0049] In one possible implementation, the second communication device sends fifth information to the first communication device, the fifth information indicating the coordinates of points of the target object within a first range; the coordinates of points within the n groups do not include the coordinates of points within the first range.

[0050] Based on this implementation method, it is helpful to avoid the repeated reporting of the coordinates of the same point, which can reduce transmission overhead and reduce the processing overhead of the first communication device and the second communication device.

[0051] In one possible implementation, the fifth piece of information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1. The coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points are used to determine the coordinates of points within the first range.

[0052] Based on this implementation method, the first range can be accurately represented by the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points. This allows the first communication device to accurately know which points' coordinates do not need to be reported, which helps reduce the repeated reporting of the same point's coordinates and can reduce transmission overhead.

[0053] In one possible implementation, the distance between the coordinates of any two cluster centers among the coordinates of the m cluster centers corresponding to the m groups is greater than or equal to a first threshold.

[0054] Based on this implementation method, the number of groups can be reduced when clustering the coordinates of multiple points corresponding to the target object, and each group contains the coordinates of a large number of points. Therefore, each group can better reflect the local features of the target object, which helps to improve the reconstruction accuracy of the receiving end.

[0055] In one possible implementation, the distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i-th cluster center out of m cluster centers. This represents the coordinates of the 2nd cluster center out of m cluster centers. d represents the distance between the coordinates of the i1th cluster center and the i2th cluster center, and d represents the first threshold.

[0056] In one possible implementation, the overlap between any two groups out of the m groups is less than or equal to a second threshold.

[0057] Based on this implementation method, the coordinates of points within the reported group can be guaranteed to have a low repetition rate. Reducing the reporting of duplicate point coordinates can reduce signaling overhead and help improve the reconstruction accuracy of the receiver.

[0058] In one possible implementation, the overlap between the i1th group and the i2th group among the m groups satisfies: in, This represents the i1-th group out of m groups. This represents the number of coordinates of points within the i1-th group. This represents the i2-th group out of m groups. This represents the number of coordinates of points within the i2-th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1-th group and the i2-th group. Indicates taking and The larger value in the range, where α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

[0059] In one possible implementation, determining the coordinates of the remaining nm groups based on the coordinates of the n cluster centers and the coordinates of the points in the m groups out of the n groups includes: determining a first feature vector based on the coordinates of the points in the m groups; determining a second feature vector based on the coordinates of the n cluster centers; and determining the coordinates of the remaining nm groups based on the first and second feature vectors.

[0060] Based on this implementation method, a first feature vector is constructed using the coordinates of points within m groups. This first feature vector reflects the high-precision features of the local location of the target object. A second feature vector is constructed using the coordinates of n cluster center points. This second feature vector reflects the overall contour features of the target object. Then, using the first and second feature vectors, the coordinates of points within the remaining nm groups are obtained. The coordinates of points within the remaining nm groups reflect the high-precision features of other local locations of the target object. Thus, this method achieves high-precision reconstruction of the coordinates of points corresponding to the target object.

[0061] Thirdly, this application provides a communication device that has the functions involved in implementing the method of the first aspect or any possible implementation of the first aspect. For example, the communication device includes modules, units, or means corresponding to the operations involved in performing the method of the first aspect or any possible implementation of the first aspect. The functions, units, or means can be implemented by software, or by hardware, or by hardware executing corresponding software.

[0062] In one possible design, the communication device includes a processing unit and a communication unit, wherein the communication unit can be used to transmit and receive signals to enable communication between the communication device and other devices; the processing unit can be used to perform some internal operations of the communication device. The functions performed by the processing unit and the communication unit may correspond to the operations involved in the method of the first aspect described above or any possible implementation method based on the first aspect.

[0063] In one possible design, the communication device includes a processor that may be coupled to a memory. The memory may store necessary computer programs or instructions for implementing the methods of the first aspect or any possible implementations of the first aspect. The processor may execute the computer programs or instructions stored in the memory, which, when executed, cause the communication device to implement the methods of the first aspect or any possible implementations of the first aspect.

[0064] In one possible design, the communication device includes a processor and a memory, the memory of which may store necessary computer programs or instructions for implementing the methods of the first aspect or any possible implementations of the first aspect. The processor may execute the computer programs or instructions stored in the memory, and when the computer programs or instructions are executed, cause the communication device to implement the methods of the first aspect or any possible implementations of the first aspect.

[0065] In one possible design, the communication device includes a processor and an interface circuit, wherein the processor is configured to communicate with other devices via the interface circuit and execute the method of the first aspect described above or any possible implementation of the first aspect.

[0066] Understandably, the processor in the third aspect can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc.; when implemented in software, the processor can be a general-purpose processor that reads software code stored in memory. Furthermore, there can be one or more processors, and one or more memories. The memory can be integrated with the processor or separated from it. In specific implementations, the memory 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.

[0067] Fourthly, this application provides a communication device that has the functions involved in implementing the method of the second aspect or any possible implementation method of the second aspect. For example, the communication device includes modules, units, or means corresponding to the operations involved in performing the method of the second aspect or any possible implementation method of the second aspect. The functions, units, or means can be implemented by software, or by hardware, or by hardware executing corresponding software.

[0068] In one possible design, the communication device includes a processing unit and a communication unit, wherein the communication unit can be used to transmit and receive signals to enable communication between the communication device and other devices; the processing unit can be used to perform some internal operations of the communication device. The functions performed by the processing unit and the communication unit may correspond to the operations involved in the method of the second aspect described above or any possible implementation method based on the second aspect.

[0069] In one possible design, the communication device includes a processor that may be coupled to a memory. The memory may store necessary computer programs or instructions for implementing the functions involved in the method of the second aspect above or any possible implementation based on the second aspect. The processor can execute the computer programs or instructions stored in the memory, which, when executed, cause the communication device to implement the method of the second aspect above or any possible implementation based on the second aspect.

[0070] In one possible design, the communication device includes a processor and a memory, the memory of which may store necessary computer programs or instructions for implementing the methods of the second aspect above or any possible implementations of the second aspect. The processor may execute the computer programs or instructions stored in the memory, and when the computer programs or instructions are executed, cause the communication device to implement the methods of the second aspect above or any possible implementations of the second aspect.

[0071] In one possible design, the communication device includes a processor and an interface circuit, wherein the processor is configured to communicate with other devices via the interface circuit and execute the method of the second aspect described above or any possible implementation of the second aspect.

[0072] Understandably, the processor in the fourth aspect can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc.; when implemented in software, the processor can be a general-purpose processor that reads software code stored in memory. Furthermore, there can be one or more processors, and one or more memories. The memory can be integrated with the processor, or the memory and processor can be separate. In specific implementations, the memory can be integrated with the processor on the same chip, or they can be set on different chips. This application does not limit the type of memory or the way the memory and processor are set.

[0073] Fifthly, this application provides a communication system, which may include a first communication device and a second communication device; wherein the first communication device is used to execute the method of the first aspect or any possible implementation method based on the first aspect, and the second communication device is used to execute the method of the second aspect or any possible implementation method based on the second aspect.

[0074] In a sixth aspect, this application provides a computer-readable storage medium storing a computer program (or computer-readable instructions) in which any of the possible implementations of the first to second aspects described above is executed when a communication device reads and executes some or all of the computer-readable instructions.

[0075] For example, a computer-readable storage medium can be any available medium that a computer can access. This includes, but is not limited to, non-transient computer-readable media, random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), compact disc-read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage media, or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer.

[0076] In a seventh aspect, this application provides a computer program product that, when read and executed by a communication device, causes any one of the possible implementation methods of the first to second aspects described above to be executed.

[0077] Eighthly, this application provides a chip (or chip system) including a processor coupled to a memory storing a computer program; the processor is configured to invoke part or all of the computer program in the memory, such that any of the possible implementations of the first to second aspects described above are executed. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the architecture of a communication system applicable to the embodiments of this application;

[0079] Figure 2 A flowchart illustrating the communication method provided in an embodiment of this application;

[0080] Figure 3 An example diagram illustrating the relationship between the coordinates of grouping and cluster centroids;

[0081] Figure 4 A diagram illustrating data transmission;

[0082] Figure 5 A diagram illustrating data transmission;

[0083] Figure 6 A diagram illustrating data transmission;

[0084] Figure 7 A diagram illustrating data transmission;

[0085] Figure 8 A schematic diagram showing the reference point and radius;

[0086] Figure 9 Example diagram for the first range;

[0087] Figure 10 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0088] Figure 11 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0089] In the embodiments of this application, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0090] The technical solutions of this application can be applied to various wireless communication systems, such as Universal Mobile Telecommunications System (UMTS), Wireless Local Area Network (WLAN), short-range wireless communication systems (such as sidelink, Wireless Fidelity (Wi-Fi), Bluetooth, etc.), wired networks, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, 4th generation (4G) mobile communication systems (such as Long Term Evolution (LTE) systems), LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5G mobile communication systems (such as New Radio (NR) systems), Future Communications systems, or other similar communication systems, and are not limited thereto. The embodiments of this application use... Figure 1The communication system shown is used as an example for description. When the technical solutions of the embodiments of this application are applied to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, modules in other communication systems without limitation.

[0091] Figure 1 This is a schematic diagram of the architecture of the communication system used in the embodiments of this application. Figure 1 As shown, the communication system includes an access network 100. Optionally, the communication system may also include a core network 200 and an Internet 300. The access network 100 may include at least one access network device, such as... Figure 1 110a and 110b may also include at least one terminal device, such as Figure 1 The series consists of 120a-120j. Specifically, 110a is a base station, 110b is a micro-station, 120a, 120e, 120f, and 120j are mobile phones, 120b is a car, 120c is a fuel dispenser, 120d is a home access point (HAP) deployed indoors or outdoors, 120g is a laptop, 120h is a printer, and 120i is a drone. The same terminal device or access network device can provide different functions in different application scenarios. For example... Figure 1 The mobile phones included are 120a, 120e, 120f, and 120j. Mobile phone 120a can access base station 110a, connect to car 120b, communicate directly with mobile phone 120e, and access HAP. Car 120b can access HAP and communicate directly with mobile phone 120a. Mobile phone 120f can connect to micro-station 110b, connect to laptop 120g, and connect to printer 120h. Mobile phone 120j can control drone 120i.

[0092] (1) Access network equipment

[0093] Access network equipment is a network-side device with wireless transceiver capabilities. Access network equipment can be a device within a radio access network (RAN) that provides wireless communication functionality to terminal devices; this is called RAN equipment. The RAN can be an access network within the 3rd Generation Partnership Project (3GPP), such as 4G, 5G, or future networks. The RAN can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a communication network combining two or more of these.

[0094] RAN equipment can also be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, or equipment that performs base station functions in device-to-device (D2D) communication, machine-to-machine (M2M) communication, or vehicle-to-everything (V2X) communication.

[0095] RAN equipment can also be modules or units that perform some of the functions of a base station. For example, it can be a central unit (CU), a distributed unit (DU), or a radio unit (RU). The CU performs the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) of the base station, and can also perform the functions of the service data adaptation protocol (SDAP). The CU can be further divided into a CU control plane (CP) (i.e., CU-CP) and a CU user plane (UP) (i.e., CU-UP). The DU performs the functions of the radio link control (RLC) layer and medium access control (MAC) layer of the base station, and can also perform some or all of the physical layer functions. For specific descriptions of the above protocol layers, please refer to the relevant 3GPP technical specifications. The CU and DU can be set up separately, or they can be included in the same network element, such as in the baseband unit (BBU). The RU can be included in radio frequency equipment or radio frequency units, such as in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, CU, DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. RAN equipment can be a macro base station (such as...) Figure 1 110a in the text), can also be a micro base station or an indoor station (such as... Figure 1 110b) in the above can also be a relay node or a donor node, etc. The embodiments of this application do not limit the specific technology or specific device form used in the access network equipment.

[0096] In the embodiments of this application, the functions of the access network device can be executed by modules (such as chips) within the access network device, or by a control subsystem that includes the functions of the access network device. This control subsystem, which includes the functions of the access network device, can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities.

[0097] (2) Terminal equipment

[0098] A terminal device is a user-side device with wireless transceiver capabilities. Terminal devices can also be called terminals, user equipment (UE), mobile stations, mobile terminals, etc. Terminal devices can be widely used in various scenarios, such as D2D communication, V2X communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, intelligent transportation, smart cities, etc. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc. In the embodiments of this application, the device used to implement the functions of the terminal device can be the terminal device itself, or it can be a device that supports the terminal device in implementing the functions, such as a chip system or a combination of devices or components that can implement the functions of the terminal device. This device can be installed in the terminal device. The embodiments of this application do not limit the specific technology or specific device form used in the terminal device.

[0099] In some implementations, the terminal device may also be a device or module that is connected to the aforementioned communication system and has corresponding communication functions. The terminal device typically includes a communication module that performs the corresponding communication functions, or a chip responsible for communication functions within the terminal device, such as a modem chip (also known as a baseband chip), or a system-on-a-chip (SoC) chip or system-in-a-package (SIP) chip containing a modem module. The terminal device also contains program instructions for performing the corresponding communication functions.

[0100] In this embodiment of the application, the functions of the terminal device can also be performed by modules (such as chips or modems) in the terminal device, or by a device containing the functions of the terminal device.

[0101] Access network equipment and terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the access network equipment and terminal equipment.

[0102] The roles of access network equipment and terminal equipment can be relative, for example, Figure 1 The helicopter or drone 120i can be configured as a mobile access network device. For terminal devices 120j that access the wireless access network 100 via 120i, terminal device 120i is an access network device; however, for access network device 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Alternatively, 110a and 120i can also communicate via an interface protocol between access network devices; in this case, 120i is also an access network device relative to 110a. Therefore, both access network devices and terminal devices can be collectively referred to as communication devices. Figure 1 110a and 110b can be referred to as communication devices with access network equipment functions. Figure 1 The 120a-120j in the text can be referred to as communication devices with terminal equipment functions.

[0103] Communication between access network devices and terminal devices, between access network devices, and between terminal devices can be conducted through licensed spectrum, unlicensed spectrum, or both simultaneously, without limitation.

[0104] The network architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0105] In 5G and future communication technologies, there are numerous sensing and transmission scenarios. The transmitting end needs to send a large amount of sensing data to the receiving end, which then uses this data to reconstruct the environment. This sensing data can include the coordinates of points corresponding to target objects obtained using sensing technology.

[0106] When transmitting large amounts of sensing data, it is necessary to consider both the cost and latency of data transmission, as well as the reconstruction accuracy at the receiving end. Transmitting all the sensing data will increase overhead (such as latency and resource overhead); transmitting less sensing data will reduce the reconstruction accuracy at the receiving end.

[0107] Currently, after obtaining the coordinates of points corresponding to a target object using sensing technology, a subset of point coordinates can be selected from the obtained point coordinates and transmitted to the receiving end using uniform downsampling or voxel grid downsampling methods. The receiving end then reconstructs the target object based on the received point coordinates to obtain the coordinates of more points corresponding to the target object, thereby acquiring the target object's feature information in the environment, such as contours and local features.

[0108] The uniform downsampling method refers to the method where, after the transmitting end obtains the coordinates of the points corresponding to the target object, it uniformly selects the coordinates of points from the obtained coordinates at fixed intervals for transmission.

[0109] The voxel grid downsampling method refers to the sending end dividing the space into a voxel grid, which can cover the coordinates of the points corresponding to the acquired target object. Then, one or more points are selected in each voxel grid, and the coordinates of the selected points are transmitted to the receiving end.

[0110] The above methods reduce the transmission cost and latency during sensing to some extent. However, the problems with the above two methods are that the density of the coordinates of the points selected for transmission is low due to uniform selection of point coordinates or selection of point coordinates from the voxel network. This may result in the loss of important features in each local area, leading to low reconstruction accuracy at the receiving end.

[0111] Therefore, how to reduce the transmission cost and latency of sensing data and correspondingly improve reconstruction accuracy remains to be studied.

[0112] It is understood that the sensing data in this application can be any data used for sensing, such as physical quantities measured by various sensors, such as sound, temperature, humidity, position, speed, etc., or including images, videos, etc. collected by sensors.

[0113] To address the aforementioned issues, this application provides corresponding solutions.

[0114] The method provided in the embodiments of this application is described in detail below. The method provided in the embodiments of this application involves a first communication device and a second communication device. The first communication device is a data transmitter, and the second communication device is a data receiver. Unless otherwise specified, the "first communication device" in this application can refer to a communication device (e.g., a network device, a terminal device, etc.), a component within that communication device (e.g., a processor, a chip, or a chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the communication device. Similarly, the "second communication device" in this application can refer to a communication device (e.g., a terminal device, a network device, etc.), a component within that communication device (e.g., a processor, a chip, or a chip system, etc.), or a logic module or software capable of implementing all or part of the functions of the communication device. For example, the first communication device may be a network device, and the second communication device may be a terminal device; or, the first communication device may be a terminal device, and the second communication device may be a network device. The network device in this application embodiment may be an access network device, a core network device, or other types of device, and this application does not limit it.

[0115] Figure 2 This is a flowchart illustrating a communication method provided in an embodiment of this application. The method includes the following steps:

[0116] Step 201: The first communication device obtains the coordinates of n cluster center points and n groups.

[0117] The first communication device uses sensing technology to acquire the coordinates of multiple points corresponding to a target object (such as a vehicle, pedestrian, building, or aircraft). The coordinates of each point can be two-dimensional or three-dimensional (e.g., L-dimensional coordinates, where L is a positive integer). Then, the first communication device uses a clustering algorithm to cluster the coordinates of the multiple points corresponding to the target object, obtaining the coordinates of n cluster centers and n groups. The coordinates of the n cluster centers correspond one-to-one with the n groups, where n is an integer greater than 1. The groups are also called sets or sets of point coordinates.

[0118] This application does not limit the specific form of the clustering algorithm. For example, the clustering algorithm includes the K-means algorithm and / or hierarchical clustering algorithms. Among them, the K-means algorithm includes the classic K-means algorithm, the dynamic K-means algorithm, and the partitioning around medoid (PAM) algorithm, etc. The hierarchical clustering algorithm includes the agglomerative hierarchical clustering (AHC) algorithm, the divisive analysis clustering (DAC) algorithm, and the balanced iterative reducing and clustering using hierarchies (BIRCH) algorithm, etc.

[0119] Each group includes the coordinates of at least one of the multiple points corresponding to the target object. Any two groups among these n groups may have no intersection (i.e., they do not contain the same coordinates) or they may have intersection (i.e., they contain the coordinates of at least one of the same points).

[0120] Wherein, the coordinates of the i-th cluster center among the n cluster centers are represented by c. i This means that 1 ≤ i ≤ n, therefore the coordinates of the n cluster centers are {c1, c2, ..., cn}. n The coordinates of the i-th cluster center point correspond to the j-th point within the i-th group, represented by x. ij This means that 1 ≤ j ≤ N i N i This represents the number of coordinates of points within the i-th group. In this embodiment, the example is given using the coordinates of points within each group that do not contain the cluster center corresponding to that group. The points within each group are also referred to as cluster points.

[0121] Of course, in practical applications, a group can also contain the coordinates of the cluster center points corresponding to that group. Based on this method, the N values ​​within the i-th group... i The coordinates of each point contain c i .

[0122] The relationship between groups and cluster centers is as follows: the coordinates of the cluster center corresponding to a group are calculated based on the coordinates of the points within that group. For example, the coordinates of the cluster center are obtained by averaging or weighted averaging the coordinates of the points within a group. The coordinates of this cluster center are calculated, and they may be exactly the same as the coordinates of a point within the corresponding group, or they may be different from the coordinates of all points within the corresponding group.

[0123] When performing clustering operations, the clustering information used for the clustering operation (such as the clustering algorithm, the range of coordinates of points within a group, etc.) can be pre-configured, for example, pre-configured to the first communication device by the second communication device or other communication devices; or, the clustering information used for the clustering operation can be flexibly indicated, for example, flexibly indicated by the second communication device or other communication devices to the clustering information corresponding to the first communication device. It is understood that the aforementioned flexible indication can be sent via RRC signaling, downlink control information (DCI), or media access control element (MAC CE), etc.

[0124] The following example will illustrate this point. Figure 3 This is an example diagram illustrating the relationship between the coordinates of groupings and cluster centroids. In this example, the target object to be sensed is an airplane. The coordinates of multiple points corresponding to the airplane are obtained using sensing technology; each point's coordinates can be three-dimensional. Then, clustering operations are performed on these coordinates to obtain multiple groups. Each group contains the coordinates of at least one of the multiple points corresponding to the airplane. Adjacent groups may overlap, meaning they may contain the same coordinates, or they may not overlap. Figure 3 The following example illustrates the process of clustering into nine groups. The coordinates of points within each circle constitute a group, and each group corresponds to the coordinates of a cluster center point, which is not considered part of that group.

[0125] In step 202, the first communication device sends the coordinates of n cluster centers and the coordinates of points within m groups out of the n groups to the second communication device. Correspondingly, the second communication device receives the coordinates of the n cluster centers and the coordinates of points within the m groups out of the n groups.

[0126] m is a positive integer less than n. That is, n can take the value 1, 2, ..., m.

[0127] The coordinates of points within m groups can be the coordinates of all points within each of the m groups, or the coordinates of more than a certain percentage (e.g., 90% or 95%) of points within each of the m groups. This can be understood as the first communication device sending the coordinates of all or most of the points within the m groups to the second communication device.

[0128] The m groups can be any m groups from the n groups mentioned above, or they can be m groups selected from the n groups based on a predetermined rule that satisfies that rule.

[0129] The first communication device sends the coordinates of points in m out of n packets to the second communication device. This can also be understood as the first communication device sending the coordinates of points in m out of n packets to the second communication device, without sending the coordinates of points in the remaining nm out of n packets to the second communication device.

[0130] by Figure 3 For example, suppose the first communication device sends the coordinates of the nine cluster centers corresponding to groups 1 to 9, as well as the coordinates of the points in group 1, group 3, group 4, and group 9 to the second communication device, but does not send the coordinates of the points in group 2, group 5, group 6, group 7, and group 8 to the second communication device.

[0131] As one implementation method, a first communication device can compress the coordinates of n cluster centroids and the coordinates of points within m groups out of n groups to obtain compressed data, and send the compressed data to a second communication device. The second communication device can decompress the received compressed data to obtain the coordinates of the n cluster centroids and the coordinates of points within m groups out of n groups. The compression method can be quantization compression, dictionary compression, or Draco compression, etc., and this application is not limited to this. Based on this method, reducing the amount of transmitted data using the compression algorithm can reduce transmission overhead and transmission latency. It is understood that the same compression method can be used for compressing the coordinates of the n cluster centroids, and different compression methods can be used for compressing the coordinates of the points within m groups out of n groups; for example, dictionary compression can be used for the coordinates of the n cluster centroids, while quantization compression can be used for the coordinates of the points within m groups out of n groups.

[0132] Step 203: The second communication device determines the coordinates of the remaining nm groups based on the coordinates of the n cluster centers and the coordinates of the points in the m groups out of the n groups.

[0133] As one implementation method, the second communication device inputs the coordinates of n cluster centers and the coordinates of points within m groups out of the n groups into the neural network model for inference, and the output inference result includes the coordinates of points within the remaining nm groups out of the n groups. The coordinates of the points within the remaining nm groups can be completely identical or partially identical to the coordinates of the points within the remaining nm groups obtained by the first communication device through clustering. This is because the first communication device does not send the coordinates of the points within the remaining nm groups to the second communication device; the second communication device performs inference using the received coordinates of the n cluster centers and the coordinates of points within the m groups out of the n groups, and treats the inference result as the coordinates of the points within the remaining nm groups.

[0134] As one implementation method, the process by which the second communication device determines the coordinates of points within the remaining nm groups can, for example, involve the second communication device determining a first feature vector based on the coordinates of points within the received m groups, determining a second feature vector based on the coordinates of the received n cluster center points, and then determining the coordinates of points within the remaining nm groups based on the first and second feature vectors. This application does not limit the specific implementation method of reasoning based on a neural network model. Based on this implementation method, a first feature vector is constructed using the coordinates of points within the m groups. This first feature vector reflects the high-precision features of the local location of the target object. A second feature vector is constructed using the coordinates of the n cluster center points. This second feature vector reflects the overall contour features of the target object. Then, using the first and second feature vectors, the coordinates of points within the remaining nm groups are obtained. The coordinates of points within the remaining nm groups reflect the high-precision features of other local locations of the target object. Thus, this method achieves high-precision reconstruction of the coordinates of points corresponding to the target object.

[0135] Based on the above scheme, on the one hand, the first communication device clusters the coordinates of the points corresponding to the target object to obtain the coordinates of n cluster center points and n groups, and sends the coordinates of the n cluster center points and the coordinates of the points in m groups of the n groups to the second communication device, without sending the coordinates of the points in the remaining nm groups to the second communication device. Therefore, the amount of sensing data transmitted can be reduced, thereby reducing the transmission cost and latency of sensing data. On the other hand, the second communication device can obtain the coordinates of all or most of the points in the m groups. Therefore, it can use the received coordinates of the points in the m groups to accurately determine the high-precision features of the local area corresponding to the coordinates of the points in the m groups. Then, it can use the high-precision features of the local location to accurately determine the coordinates of the points in the remaining nm groups. The coordinates of the points in the remaining nm groups reflect the high-precision features of other local locations of the target object, thereby realizing the high-precision reconstruction of the coordinates of the points corresponding to the target object.

[0136] The following provides different implementation methods for the specific implementation process of step 202 above.

[0137] In the first implementation method, the number of coordinates of points in each of the above m groups is N.

[0138] For example, the above m and N are pre-agreed values, that is, pre-agreed by the first communication device and the second communication device.

[0139] Based on this implementation method, after the first communication device sends the coordinates of n cluster center points and the coordinates of points within m of the n groups to the second communication device, the second communication device determines the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points based on a pre-agreed agreement. Since m and N are values ​​pre-agreed upon by the first and second communication devices, there is no need to configure m and N to the first communication device via signaling, thus reducing signaling overhead.

[0140] For example, the above m and N may also be sent to the first communication device by the second communication device or other communication devices.

[0141] For example, the coordinates of the n cluster centers sent by the first communication device are ordered as c1, c2, ..., c m ,c m+1 ,…,c n The coordinates of the points within the m sent packets are sorted in order as x 11 ,x 12 ,…,x 1N ,x 21 ,x 22 ,…,x 2N ,…,x m1 ,x m2 ,…,x mN Among them, {x 11 ,x 12 ,…,x 1N Let {x} be the coordinates of the point in the first group out of m groups. 21 ,x 22 ,…,x 2N Let {x} be the coordinates of the point in the second group out of m groups. m1 ,x m2 ,…,x mN Let} represent the coordinates of points within the m-th group out of m groups. It is stipulated that the coordinates of the first m cluster centers among the n cluster centers correspond one-to-one with the m groups. That is, for each c1, c2, ..., c... m It sent c1, c2, ..., c mIt also sent messages with c1, c2, ..., c m The coordinates of the points within the corresponding m groups, and c1 corresponds to {x 11 ,x 12 ,…,x 1N}, c2 corresponds to {x 21 ,x 22 ,…,x 2N},…,,c m Corresponding to {x m1 ,x m2 ,…,x mN Regarding c m+1 ,…,c n The first communication device only sends c m+1 ,…,c n Do not send with c m+1 ,…,c n The coordinates of the points within the corresponding group.

[0142] In this embodiment, the first communication device can divide the aforementioned n groups into two categories: Category 1 and Category 0. The number of groups in Category 1 is m, and the number of groups in Category 0 is nm. Groups in Category 1 refer to those that need to send the coordinates of points within the group; groups in Category 0 refer to those that do not need to send the coordinates of points within the group. Based on this approach, step 202 can also be described as: the first communication device sends the coordinates of n cluster center points and the coordinates of points within the Category 1 groups to the second communication device. Figure 4 This is a schematic diagram of data transmission. The information that the first communication device needs to transmit includes: Category 1 packets (i.e., x...). 11 ,x 12 ,…,x 1N ,x 21 ,x 22 ,…,x 2N ,…,x m1 ,x m2 ,…,x mN and the coordinates of n cluster centers (i.e., c1, c2, ..., cn). m ,c m+1 ,…,c n ).

[0143] In the second implementation method, the number of coordinates of points in the i-th group among the m groups mentioned above is N. i Furthermore, based on step 202, the first communication device also sends first information and third information to the second communication device. The first information indicates m and n, and the third information indicates the number of coordinates of points in each of the m groups.

[0144] The first information indicates m and n. For example, the first information may include m and n, or the first information may include m and nm, or the first information may include n and nm, and so on. This application does not limit the specific implementation of the first information indicating m and n.

[0145] The third information indicates the number of coordinates of points within each of the m groups. For example, the third information could include (N1, N2, ..., N...). m ), or the third information includes (N1, N2-N1, ..., N m -N m-1 This application does not limit the specific implementation of the third information indicating the number of coordinates of points within each of the m groups.

[0146] It should be noted that if the number of point coordinates within each of the aforementioned m groups is the same, for example, N, then N can also be a value pre-agreed upon by the first and second communication devices. In this case, the first communication device may not need to send the aforementioned third information.

[0147] Based on this second implementation method, after the first communication device sends the coordinates of n cluster center points, the coordinates of points within m groups out of the n groups, first information, and third information to the second communication device, the second communication device can determine the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points. In this method, the first communication device autonomously determines the values ​​of m and n and reports them to the second communication device after determining the values ​​of m and n, enabling the second communication device to accurately know the values ​​of m and n, thus improving reconstruction accuracy. Furthermore, since the first communication device autonomously determines the values ​​of m and n, it has greater flexibility when clustering the coordinates of multiple points corresponding to the target object. For example, it can select the most suitable values ​​of m and n based on the number and distribution characteristics of the coordinates of the points corresponding to the target object, which helps improve the reconstruction accuracy at the receiving end.

[0148] For example, the coordinates of the n cluster centers sent by the first communication device are ordered as c1, c2, ..., c m ,c m+1 ,…,c n The coordinates of the points within the m sent packets are sorted in order as x 11 ,x 12 ,…,x 1N1 ,x 21 ,x 22 ,…,x 2N2 ,…,x m1 ,x m2 ,…,x mNm Among them, {x 11 ,x 12,…,x 1N1 Let {x} be the coordinates of the point in the first group out of m groups. 21 ,x 22 ,…,x 2N2 Let {x} be the coordinates of the point in the second group out of m groups. m1 ,x m2 ,…,x mNm Let} represent the coordinates of points within the m-th group out of m groups. It is stipulated that the coordinates of the first m cluster centers among the n cluster centers correspond one-to-one with the m groups. That is, for each c1, c2, ..., c... m It sent c1, c2, ..., c m It also sent messages with c1, c2, ..., c m The coordinates of the points within the corresponding m groups, and c1 corresponds to {x 11 ,x 12 ,…,x 1N1}, c2 corresponds to {x 21 ,x 22 ,…,x 2N2},…,,c m Corresponding to {x m1 ,x m2 ,…,x mNm Regarding c m+1 ,…,c n The first communication device only sends c m+1 ,…,c n Do not send with c m+1 ,…,c n The coordinates of the points within the corresponding group.

[0149] In this embodiment, the first communication device can divide the aforementioned n groups into two categories: Category 1 and Category 0. The number of groups in Category 1 is m, and the number of groups in Category 0 is nm. Groups in Category 1 refer to those that need to send the coordinates of points within the group; groups in Category 0 refer to those that do not need to send the coordinates of points within the group. Based on this approach, step 202 can also be described as follows: the first communication device sends the coordinates of n cluster center points and the coordinates of points within the Category 1 groups to the second communication device. Furthermore, the first communication device also sends the aforementioned first information and third information to the second communication device. Figure 5 This is a schematic diagram of data transmission. The information that the first communication device needs to transmit includes: Category 1 packets (i.e., x...). 11 ,x 12 ,…,x 1N1 ,x 21 ,x 22 ,…,x 2N2 ,…,xm1 ,x m2 ,…,x mNm ), the coordinates of n cluster centers (i.e., c1, c2, ..., cn). m ,c m+1 ,…,c n ), first information and third information.

[0150] In method three, the number of coordinates of points in the i-th group out of the above m groups is N. i Furthermore, based on step 202, the first communication device also sends second information and third information to the second communication device. The second information indicates a bit sequence of length n, and the third information indicates the number of coordinates of points in each of the m groups.

[0151] A bit sequence of length n has n bits that correspond one-to-one with the coordinates of n cluster centers. The m first bits of this bit sequence indicate the coordinates of the m cluster centers out of the n cluster center coordinates. These m cluster center coordinates correspond one-to-one with the aforementioned m groups. The remaining nm second bits of this bit sequence indicate the coordinates of the remaining nm cluster centers. The first bit value can be 0 and the second bit value can be 1; or the first bit value can be 1 and the second bit value can be 0.

[0152] The third information indicates the number of coordinates of points within each of the m groups. For example, the third information could include (N1, N2, ..., N...). m ), or the third information includes (N1, N2-N1, ..., N m -N m-1 This application does not limit the specific implementation of the third information indicating the number of coordinates of points within each of the m groups.

[0153] It should be noted that if the number of point coordinates within each of the aforementioned m groups is the same, for example, N, then N can also be a value pre-agreed upon by the first and second communication devices. In this case, the first communication device may not need to send the aforementioned third information.

[0154] Based on this third implementation method, after the first communication device sends the coordinates of n cluster center points, the coordinates of points within m groups out of the n groups, second information, and third information to the second communication device, the second communication device can determine the correspondence between the coordinates of the points within the received groups and the coordinates of the received cluster center points. The position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points is indicated by the aforementioned bit sequence of length n. This implementation method uses a bit sequence to indicate the position of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points. Therefore, the second communication device can use this bit sequence to know the positional distribution of the coordinates of the m cluster center points corresponding to the m groups within the coordinates of the n cluster center points, which helps improve reconstruction accuracy.

[0155] For example, the coordinates of the n cluster centers sent by the first communication device are ordered as c. k1 ,c2,…,c k2 ,c k2+1 ,…,c km-1 ,c km ,c km+1 ,…,c n The coordinates of the points within the m sent packets are sorted in order as x 11 ,x 12 ,…,x 1N1 ,x 21 ,x 22 ,…,x 2N2 ,…,x m1 ,x m2 ,…,x mNm The coordinates of the m cluster centers corresponding to these m groups are as follows: c k1 ,c k2 ,…,c km Among them, {x 11 ,x 12 ,…,x 1N1 Let {x} be the coordinates of the point in the first group out of m groups. 21 ,x 22 ,…,x 2N2 Let {x} be the coordinates of the point in the second group out of m groups. m1 ,x m2 ,…,x mNm Let} represent the coordinates of a point within the m-th group out of m groups. That is, for c... k1 ,c k2 ,…,c km , which sent c k1 ,c k2 ,…,c km Also sent with ck1 ,c k2 ,…,c km The coordinates of the points within the corresponding m groups, and c k1 Corresponding to {x 11 ,x 12 ,…,x 1N1}, c k2 Corresponding to {x 21 ,x 22 ,…,x 2N2},…,c km Corresponding to {x m1 ,x m2 ,…,x mNm}. Regarding excluding c k1 ,c k2 ,…,c km The first communication device only sends the coordinates of the remaining nm cluster centers, and does not send the coordinates of the points within the group corresponding to the coordinates of the nm cluster centers.

[0156] In this embodiment, the first communication device can divide the aforementioned n groups into two categories: Category 1 and Category 0. The number of groups in Category 1 is m, and the number of groups in Category 0 is nm. Groups in Category 1 refer to those that need to send the coordinates of points within the group; groups in Category 0 refer to those that do not need to send the coordinates of points within the group. Based on this approach, step 202 can also be described as follows: the first communication device sends the coordinates of n cluster center points and the coordinates of points within the Category 1 groups to the second communication device. Furthermore, the first communication device also sends the aforementioned second and third information to the second communication device. Figure 6 This is a schematic diagram of data transmission. The information that the first communication device needs to transmit includes: Category 1 packets (i.e., x...). 11 ,x 12 ,…,x 1N1 ,x 21 ,x 22 ,…,x 2N2 ,…,x m1 ,x m2 ,…,x mNm ), the coordinates of n cluster centers (i.e., c k1 ,c2,…,c k2 ,c k2+1 ,…,c km-1 ,c km ,c km+1 ,…,c nThe second information and the third information. In this example, the second information indicates a bit sequence of length n: (1,0,…,0,1,0,…,0,1,0,…,0), where each of the n bit values ​​corresponds one-to-one with the coordinates of the n cluster centers sent by the first communication device. This bit sequence contains m bits of value 1 and nm bits of value 0. The coordinates of the m cluster centers correspond one-to-one with the m bits of value 1 in the bit sequence. For the coordinates of the m cluster centers, both the coordinates of the m cluster centers and the m packets corresponding to the coordinates of the m cluster centers are sent; for the coordinates of the remaining nm cluster centers, only the coordinates of the nm cluster centers are sent, and the m packets corresponding to the coordinates of the nm cluster centers are not sent.

[0157] In the fourth method, step 202 above is specifically as follows: the first communication device sends s-1 first datasets and 1 second dataset to the second communication device. Each of the s-1 first datasets includes at least one of the m groups and the coordinates of the cluster center points corresponding to the at least one group. The number of coordinates of points in each group is the same. The second dataset includes the coordinates of the nm cluster center points corresponding to the remaining nm groups, where s is an integer greater than 1.

[0158] That is, the s-1 first datasets sent by the first communication device include m groups and the coordinates of m cluster centers corresponding to the m groups, and the 1 second dataset sent by the first communication device includes the coordinates of the remaining nm cluster centers. Furthermore, for each of the s-1 first datasets, the number of coordinates of points in different groups within the first dataset is the same, while the number of coordinates of points in groups within different first datasets is different.

[0159] The following describes the specific implementation method of the first communication device determining s-1 first datasets and 1 second dataset, involving the following steps 1 to 2.

[0160] Step 1: The first communication device divides the n packets into s-1 categories, where the number of coordinates of points in the same category is the same, and the number of coordinates of points in different categories is different. The size of s is related to the number of coordinates of points in the n packets.

[0161] Among them, N can be used j k represents the number of coordinates of points within the group in the j-th dataset. j This represents the number of groups within the j-th first dataset, where 1 ≤ j ≤ s-1. Let N be the number of groups. sN represents the number of coordinates of points within a group in the second dataset. Since the second dataset does not contain the coordinates of points within a group, N is therefore... s =0, use k s k represents the number of coordinates of the cluster centers in the second dataset. s =nm. And it satisfies:

[0162] by Figure 3 For example, suppose the number of coordinates of points in group 1 to group 2 is 1000 each, the number of coordinates of points in group 3 to group 6 is 1005 each, and the number of coordinates of points in group 7 to group 9 is 1010 each. Then, these 9 groups are divided into three categories based on the number of coordinates of points within each group. Groups with the same number of coordinates are grouped into the same category, resulting in 3 categories, or s = 4. Specifically, category 1 includes groups 1 to 2, category 2 includes groups 3 to 6, and category 3 includes groups 7 to 9.

[0163] Step 2: Based on pre-set rules, the first communication device selects a certain number of groups from each of the s-1 categories, and forms s-1 first datasets by combining the selected groups and the coordinates of the corresponding cluster centers, and forms 1 second dataset by combining the coordinates of the nm cluster centers corresponding to the nm unselected groups.

[0164] This application does not limit the specific form of the pre-defined rule. For example, the rule could be: randomly select a fixed number (e.g., 1 or 2) of groups from each category, and then construct a first dataset using the selected groups and the coordinates of their corresponding cluster centers. Another example is: randomly select a fixed proportion of groups from each category, and then construct a first dataset using the selected groups and the coordinates of their corresponding cluster centers.

[0165] Figure 7 This is a schematic diagram of data transmission. The first communication device needs to transmit s-1 first datasets and one second dataset. The first dataset in the s-1 first datasets includes... That is, the first dataset includes the coordinates of k1 cluster centers and the corresponding k1 groups. The second dataset in the s-1 datasets includes... That is, the second dataset contains the coordinates of k2 cluster centers and the corresponding k2 groups. And so on. The second dataset includes c m+1 ,c m+2 ,…,c n That is, it includes the coordinates of nm cluster centers, where nm = ks .

[0166] Using the example above, for grouping category 1, assuming group 1 and group 2 are selected, then group 1, group 2, the coordinates of the cluster centers corresponding to group 1, and the coordinates of the cluster centers corresponding to group 2 constitute the first dataset. For grouping category 2, assuming group 3 and group 4 are selected, then group 3, group 4, the coordinates of the cluster centers corresponding to group 3, and the coordinates of the cluster centers corresponding to group 4 constitute the second dataset. For grouping category 3, assuming group 7 and group 8 are selected, then group 7, group 8, the coordinates of the cluster centers corresponding to group 7, and the coordinates of the cluster centers corresponding to group 8 constitute the third dataset. The remaining unselected groups (i.e., group 5, group 6, and group 9) constitute the second dataset. In this example, s = 4, n = 9, m = 6, nm = 3.

[0167] As one implementation method, based on this fourth implementation method, the first communication device further sends fourth information to the second communication device. This fourth information indicates the number of groups and the number of coordinates of points within each of the s-1 first datasets, and also indicates the number of groups in the second dataset. Exemplarily, this fourth information includes [(N1,k1),(N2,k2),…,(N... s ,k s )).

[0168] Taking the above example, the fourth information may include [(N1,k1),(N2,k2),(N3,k3),(N4,k4)], and N1 = 1000, k1 = 2, N2 = 1005, k2 = 2, N3 = 1010, k3 = 2, N4 = 0, k4 = 3. That is, the fourth information includes [(1000,2),(1005,2),(1010,2),(0,3)].

[0169] In the fourth implementation method described above, when the first communication device reports data, it reports groups with the same number of point coordinates through the same first dataset, and also reports the coordinates of the corresponding cluster center points through the same first dataset. Furthermore, it reports the coordinates of other cluster center points through a second dataset. This allows the second communication device to accurately determine the number of point coordinates within each group, which helps it to perform more accurate reconstruction. Moreover, the first communication device reports multiple types of groups, each containing a different number of point coordinates, thus differentiating the characteristics of different local areas, helping to reduce the amount of data transmitted and improve the reconstruction accuracy of the second communication device.

[0170] The above presents four different specific implementation methods for step 202. Other specific implementation methods may also be used in practical applications, and this application does not limit them.

[0171] As one implementation method, prior to step 201, the first communication device may receive fifth information from the second communication device or other communication devices. This fifth information indicates the coordinates of points within a first range of the target object. The coordinates of these points within the first range have already been reported to the second communication device by communication devices other than the first communication device. Therefore, the first communication device does not need to report the coordinates of these points within the first range to the second communication device again. Consequently, the coordinates of the points within the n groups corresponding to the target object obtained by the first communication device in step 201 do not include the coordinates of the points within the first range. Based on this implementation method, it helps avoid the repeated reporting of coordinates of the same points, reducing transmission overhead and lowering the processing overhead of the first and second communication devices.

[0172] For example, the fifth piece of information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1. The first communication device can determine the coordinates of the points within the aforementioned first range based on the coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points. For example, the coordinates of the k reference points can be designated as: y1, y2, ..., y k Let the radii corresponding to the coordinates of the k reference points be denoted as: r1, r2, ..., r k Based on this method, the first range can be accurately represented by the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points. This allows the first communication device to accurately determine which points' coordinates do not need to be reported, which helps reduce the repeated reporting of the same point's coordinates and can reduce transmission overhead.

[0173] The radii corresponding to the coordinates of the k reference points can be all the same, partially the same, or completely different; this application does not limit this.

[0174] Figure 8 This is a schematic diagram showing the reference point and radius. It can be seen that a circular region can be defined by a reference point and a radius; therefore, the first range described above consists of k circular regions.

[0175] Figure 9 This is an example diagram of the first range. In this example, it is assumed that the target object is an airplane, and the coordinates of multiple points corresponding to the target object collected by sensing technology include the coordinates of points other than those in the first range. The first range consists of two circular areas.

[0176] It should be noted that in practical applications, the first range can also be composed of k regions of other shapes (such as squares, rectangles, etc.), and this application does not limit this.

[0177] As one implementation method, the distance between any two cluster center points among the coordinates of the m cluster center points corresponding to the above m groups is greater than or equal to a first threshold. Based on this method, the number of groups can be reduced when clustering the coordinates of multiple points corresponding to the target object, and each group contains a large number of point coordinates. Therefore, each group can better reflect the local features of the target object, which helps to improve the reconstruction accuracy of the receiving end.

[0178] For example, the distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i-th cluster center out of m cluster centers. This represents the coordinates of the 2nd cluster center out of m cluster centers. d represents the distance between the coordinates of the i1th cluster center and the i2th cluster center, and d represents the first threshold.

[0179] The first threshold may be defined by a protocol, determined autonomously by the first communication device, or pre-configured to the first communication device by the second communication device or other communication devices. This application does not limit this.

[0180] As one implementation method, the overlap ratio between any two groups among the aforementioned m groups is less than or equal to a second threshold. Here, the overlap ratio refers to the ratio of the number of overlapping point coordinates within two groups to the number of point coordinates within one of the groups. Based on this method, it is possible to ensure that the reported point coordinates within the groups have a low repetition rate. Reducing the reporting of duplicate point coordinates can reduce signaling overhead and help improve the reconstruction accuracy at the receiving end.

[0181] For example, the overlap between the i1th group and the i2th group in the m groups satisfies: in, This represents the i1-th group out of m groups. This represents the number of coordinates of points within the i1-th group. This represents the i2-th group out of m groups. This represents the number of coordinates of points within the i2-th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1-th group and the i2-th group. Indicates taking and The larger value in the range, where α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

[0182] The second threshold may be defined by a protocol, determined autonomously by the first communication device, or pre-configured to the first communication device by the second communication device or other communication devices. This application does not limit this.

[0183] The above mainly describes the solution provided by the embodiments of this application from the perspective of the interaction between the first communication device and the second communication device. It is understood that, in order to achieve the above functions, the first communication device and the second communication device may include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] In this application embodiment, the first communication device and the second communication device can be divided into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0185] When using integrated units, Figure 10 A possible exemplary block diagram of the apparatus involved in an embodiment of this application is shown. For example... Figure 10 As shown, the device 1000 may include a processing unit 1002 and a communication unit 1003. The processing unit 1002 is used to control and manage the operation of the device 1000. The communication unit 1003 is used to support communication between the device 1000 and other devices. Optionally, the communication unit 1003 is also called a transceiver unit, and may include a receiving unit and / or a sending unit, respectively used to perform receiving and sending operations. The device 1000 may also include a storage unit 1001 for storing the program code and / or data of the device 1000.

[0186] The device 1000 can be the first communication device in the above embodiments. The processing unit 1002 can support the device 1000 in performing the operations of the first communication device in the above method embodiments. Alternatively, the processing unit 1002 mainly performs the internal operations of the first communication device in the method embodiments, and the communication unit 1003 can support communication between the device 1000 and other devices.

[0187] For example, in one embodiment, the processing unit 1002 is used to obtain the coordinates of n cluster center points and n groups. The coordinates of the n cluster center points and the n groups are obtained by clustering the coordinates of multiple points corresponding to the target object. The coordinates of the n cluster center points correspond one-to-one with the n groups, and n is an integer greater than 1. The communication unit 1003 is used to send the coordinates of the n cluster center points and the coordinates of the points in m groups among the n groups, where m is a positive integer less than n.

[0188] In one possible implementation, the number of coordinates of points within each of the m groups is N.

[0189] For example, the above m and N are pre-agreed values, that is, pre-agreed by the first communication device and the second communication device.

[0190] For example, the above m and N may also be sent to the first communication device by the second communication device or other communication devices.

[0191] In one possible implementation, the communication unit 1003 is further configured to send first information indicating the m and the n.

[0192] In one possible implementation, the communication unit 1003 is further configured to send second information, which indicates a bit sequence of length n, wherein the n bits of the bit sequence correspond one-to-one with the coordinates of the n cluster centers, the m first bit values ​​in the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers, the coordinates of the m cluster centers correspond one-to-one with the m groups, and the remaining nm second bit values ​​in the bit sequence indicate the coordinates of the remaining nm cluster centers.

[0193] In one possible implementation, the communication unit 1003 is further configured to send third information indicating the number of coordinates of points within each of the m groups.

[0194] In one possible implementation, the communication unit 1003 is used to send the coordinates of the n cluster center points and the coordinates of points in m groups among the n groups, including: sending s-1 first datasets and 1 second dataset, each of the s-1 first datasets including at least one group among the m groups and the coordinates of the cluster center points corresponding to the at least one group, the number of coordinates of points in each group in the at least one group is the same, the second dataset including the coordinates of the nm cluster center points corresponding to the remaining nm groups, where s is an integer greater than 1.

[0195] In one possible implementation, the communication unit 1003 is further configured to send fourth information, which indicates the number of groups and the number of coordinates of points within each of the s-1 first datasets, as well as the number of groups within the second dataset.

[0196] In one possible implementation, the communication unit 1003 is further configured to receive fifth information, which indicates the coordinates of points of the target object within a first range; the coordinates of points within the n groups do not include the coordinates of points within the first range.

[0197] In one possible implementation, the fifth information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1; the processing unit 1002 is further configured to determine the coordinates of the points within the first range based on the coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points.

[0198] In one possible implementation, the distance between the coordinates of any two cluster centers among the coordinates of the m cluster centers corresponding to the m groups is greater than or equal to a first threshold.

[0199] In one possible implementation, the distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i-th cluster center among the m cluster centers. This represents the coordinates of the 2nd cluster center out of the m cluster centers. The distance between the coordinates of the i1th cluster center and the i2th cluster center is represented by d, and the first threshold is represented by d.

[0200] In one possible implementation, the overlap between any two groups among the m groups is less than or equal to a second threshold.

[0201] In one possible implementation, the overlap between the i1th group and the i2th group out of m groups satisfies: in, This represents the i1-th group out of the m groups. This indicates the number of coordinates of points within the i1-th group. This represents the i2-th group out of the m groups. This represents the number of coordinates of points within the i2-th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1th group and the i2th group. Indicates taking and The larger value in the range, α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

[0202] The device 1000 can be the second communication device in the above embodiments. The processing unit 1002 can support the device 1000 in performing the operations of the second communication device in the above method embodiments. Alternatively, the processing unit 1002 mainly performs the internal operations of the second communication device in the method embodiments, and the communication unit 1003 can support communication between the device 1000 and other devices.

[0203] For example, in one embodiment, the communication unit 1003 is used to receive the coordinates of n cluster center points and the coordinates of points in m groups out of n groups. The coordinates of the n cluster center points and the n groups are obtained by clustering the coordinates of multiple points corresponding to the target object. The coordinates of the n cluster center points correspond one-to-one with the n groups. The n is an integer greater than 1 and the m is a positive integer less than n. The processing unit 1002 is used to determine the coordinates of the remaining nm groups based on the coordinates of the n cluster center points and the coordinates of the points in the m groups out of the n groups.

[0204] In one possible implementation, the number of coordinates of points within each of the m groups is N.

[0205] For example, the above m and N are pre-agreed values, that is, pre-agreed by the first communication device and the second communication device.

[0206] For example, the above m and N may also be sent to the first communication device by the second communication device or other communication devices.

[0207] In one possible implementation, the communication unit 1003 is further configured to receive first information indicating the m and the n.

[0208] In one possible implementation, the communication unit 1003 is further configured to receive second information, which indicates a bit sequence of length n, wherein the n bits of the bit sequence correspond one-to-one with the coordinates of the n cluster centers, the m first bit values ​​in the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers, the coordinates of the m cluster centers correspond one-to-one with the m groups, and the remaining nm second bit values ​​in the bit sequence indicate the coordinates of the remaining nm cluster centers.

[0209] In one possible implementation, the communication unit 1003 is further configured to receive third information indicating the number of coordinates of points within each of the m groups.

[0210] In one possible implementation, the communication unit 1003 is used to receive the coordinates of n cluster center points and the coordinates of points in m groups out of n groups, including: receiving s-1 first datasets and 1 second dataset, each of the s-1 first datasets including at least one group out of the m groups and the coordinates of the cluster center points corresponding to the at least one group, the number of coordinates of points in each group in the at least one group is the same, the second dataset including the coordinates of nm cluster center points corresponding to the remaining nm groups, where s is an integer greater than 1.

[0211] In one possible implementation, the communication unit 1003 is further configured to receive fourth information, which indicates the number of groups and the number of coordinates of points within each of the s-1 first datasets, as well as the number of groups within the second dataset.

[0212] In one possible implementation, the communication unit 1003 is further configured to transmit fifth information, which indicates the coordinates of a point of the target object within a first range;

[0213] The coordinates of the points within the n groups do not include the coordinates of the points within the first range.

[0214] In one possible implementation, the fifth information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1. The coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points are used to determine the coordinates of the points within the first range.

[0215] In one possible implementation, the distance between the coordinates of any two cluster centers among the coordinates of the m cluster centers corresponding to the m groups is greater than or equal to a first threshold.

[0216] In one possible implementation, the distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i-th cluster center among the m cluster centers. This represents the coordinates of the 2nd cluster center out of the m cluster centers. The distance between the coordinates of the i1th cluster center and the i2th cluster center is represented by d, and the first threshold is represented by d.

[0217] In one possible implementation, the overlap between any two groups among the m groups is less than or equal to a second threshold.

[0218] In one possible implementation, the overlap between the i1th group and the i2th group out of m groups satisfies: in, This represents the i1-th group out of the m groups. This indicates the number of coordinates of points within the i1-th group. This represents the i2-th group out of the m groups. This represents the number of coordinates of points within the i2-th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1th group and the i2th group. Indicates taking and The larger value in the range, α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

[0219] In one possible implementation, the processing unit 1002 is configured to determine the coordinates of the remaining nm groups based on the coordinates of the n cluster centers and the coordinates of the points in the m groups among the n groups, including: determining a first feature vector based on the coordinates of the points in the m groups; determining a second feature vector based on the coordinates of the n cluster centers; and determining the coordinates of the remaining nm groups based on the first feature vector and the second feature vector.

[0220] It should be understood that the division of units in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, all units in the device can be implemented entirely through software calls from processing elements; all units can be implemented entirely in hardware; or some units can be implemented through software calls from processing elements, and some units can be implemented in hardware. For example, each unit can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as a program in memory, called and executed by a processing element of the device. Moreover, these units can be fully or partially integrated together, or implemented independently. The processing element mentioned here can also be called a processor, which can be an integrated circuit with signal processing capabilities. In the implementation process, the operations of the above methods or the various units mentioned above can be implemented through integrated logic circuits in the processor element or through software calls from processing elements.

[0221] In one example, a unit in any of the above devices can be one or more integrated circuits configured to implement the methods described above, such as: one or more application-specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these forms of integrated circuits. As another example, when a unit in the device can be implemented in the form of a processing element scheduler, the processing element can be a processor, such as a general-purpose central processing unit (CPU), or other processor capable of calling programs. Furthermore, these units can be integrated together and implemented as a System-on-a-Chip (SoC).

[0222] The receiving unit described above is an interface circuit of the device, used to receive signals from other devices. For example, when the device is implemented as a chip, the receiving unit is an interface circuit for the chip to receive signals from other chips or devices. The transmitting unit described above is an interface circuit of the device, used to transmit signals to other devices. For example, when the device is implemented as a chip, the transmitting unit is an interface circuit for the chip to transmit signals to other chips or devices.

[0223] Based on the same technical concept, embodiments of this application also provide a communication device, which is used to implement the functions of the first or second communication device in the above embodiments. For example... Figure 11As shown, the device can be a communication device or a component within a communication device (e.g., a processor, chip, or chip system). The device includes a processor 1101 and a communication interface 1102, and optionally, a memory 1103. The memory 1103 can be independent of the processor 1101 or integrated into the processor 1101; no specific limitation is made. It is understood that... Figure 11 Only the main components of the communication device are shown. Furthermore, the communication device may further include input / output devices (not shown in the figure).

[0224] The processor 1101 is used to execute the program code stored in the memory 1103, specifically to perform the actions of the aforementioned processing unit 1002, which will not be described in detail here. The communication interface 1102 is specifically used to perform the actions of the aforementioned communication unit 1003, which will not be described in detail here.

[0225] Processor 1101 can be a CPU, a digital processing unit, etc. Processor 1101 can be used to process communication protocols and communication data, control the entire communication device, execute software programs, and process software program data, such as, but not limited to, baseband-related processing. Communication interface 1102 can be used for transmitting and receiving signals, such as, but not limited to, radio frequency transceiver. The above-mentioned devices can be disposed on separate chips, or at least partially or entirely on the same chip. For example, processor 1101 can be further divided into an analog baseband processor and a digital baseband processor. The analog baseband processor can be integrated with the transceiver 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 (such as, 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 to dispose of individual devices independently on different chips or integrate them on one or more chips often depends on the specific needs of the product design. The embodiments of this application do not limit the specific implementation of the above-mentioned devices.

[0226] The communication interface 1102 can be a transceiver, an interface circuit such as a transceiver circuit, or a transceiver chip, etc. Optionally, the communication interface 1102 may include a radio frequency (RF) circuit and an antenna. The RF circuit is mainly used for converting baseband signals to RF signals and processing RF signals. The antenna is mainly used for transmitting and receiving RF signals in the form of electromagnetic waves. Input / output devices, such as touch screens, displays, and keyboards, are mainly used for receiving user input data and outputting data to the user.

[0227] Memory 1103 is used to store the program executed by processor 1101. Memory 1103 can be non-volatile memory, such as a hard disk drive (HDD) or solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). Memory 1103 can be 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 thereto.

[0228] When the communication device is powered on, the processor 1101 can read the software program in the memory 1103, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 1101 performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 1101. The processor 1101 converts the baseband signal into data and processes the data.

[0229] In another implementation, the radio frequency circuitry and antenna can be set up independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuitry and antenna can be arranged remotely, independent of the communication device.

[0230] This application embodiment does not limit the specific connection medium between the communication interface 1102, processor 1101, and memory 1103. This application embodiment... Figure 11 The memory 1103, processor 1101, and communication interface 1102 are connected via a bus 1104. Figure 11 The connections between other components are shown in bold lines only and are not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0231] Optionally, the communication device described above can be a standalone device or part of a larger device. For example, the communication device can be:

[0232] (1) An independent integrated circuit (IC), or chip, or chip system or subsystem;

[0233] (2) A collection of one or more ICs, optionally including a storage component for storing data and instructions;

[0234] (3) Application-specific integrated circuit (ASIC), such as modem;

[0235] (4) Modules that can be embedded in other devices;

[0236] (5) Receivers, smart terminals, wireless devices, handheld devices, mobile units, vehicle-mounted devices, cloud devices, artificial intelligence devices, etc.;

[0237] (6) Others, etc.

[0238] This application provides a chip (or chip system) including a processor for implementing any of the above-described method embodiments.

[0239] This application provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement any of the above-described method embodiments.

[0240] This application provides a computer program product, which includes a computer program or instructions that, when executed, implement any of the above-described method embodiments.

[0241] This application provides a communication system, including a first communication device and a second communication device in the above method embodiments.

[0242] In this application embodiment, "multiple" can refer to two or more. Therefore, in this application embodiment, "multiple" can also be understood as "at least two". "At least one" can be understood as one or more, such as one, two, or more. For example, "including at least one" means including one, two, or more. For example, including at least one of A, B, and C, then it could include A, B, C, A and B, A and C, B and C, or A, B, and C. "And / or" describes the association relationship between related objects. Specifically, there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0243] Furthermore, the terms "system" and "network" in the embodiments of this application can be used interchangeably, as can "according to" and "based on". The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are generally used to distinguish different objects and are not used to limit the order, sequence, priority, or importance of multiple objects. For example, the first communication device and the second communication device in the embodiments of this application are used to distinguish between two communication devices, and do not limit the priority or importance of these two communication devices.

[0244] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0245] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0246] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0247] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

Claims

1. A communication method characterized by comprising: include: Obtain the coordinates of n cluster centers and n groups. The coordinates of the n cluster centers and the n groups are obtained by clustering the coordinates of multiple points corresponding to the target object. The coordinates of the n cluster centers correspond one-to-one with the n groups, and n is an integer greater than 1. Send the coordinates of the n cluster centers and the coordinates of the points in m of the n groups, where m is a positive integer less than n.

2. The method of claim 1, wherein, The number of coordinates of points in each of the m groups is N.

3. The method of claim 1, wherein, Also includes: Send a first message, which indicates m and n.

4. The method of claim 1, wherein, Also includes: Send a second message, which indicates a bit sequence of length n, wherein the n bits of the bit sequence correspond one-to-one with the coordinates of the n cluster centers, the m first bits of the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers, the coordinates of the m cluster centers correspond one-to-one with the m groups, and the remaining nm second bits of the bit sequence indicate the coordinates of the remaining nm cluster centers.

5. The method of claim 3 or 4, wherein, Also includes: Send a third message, which indicates the number of coordinates of points within each of the m groups.

6. The method as described in claim 1, characterized in that, Sending the coordinates of the n cluster centers and the coordinates of points within m groups of the n groups includes: Send s-1 first datasets and 1 second dataset. Each of the s-1 first datasets includes at least one group from the m groups and the coordinates of the cluster center points corresponding to the at least one group. The number of coordinates of points in each group is the same. The second dataset includes the coordinates of the nm cluster center points corresponding to the remaining nm groups. s is an integer greater than 1.

7. The method as described in claim 6, characterized in that, Also includes: Send a fourth message, which indicates the number of groups and the number of coordinates of points within each of the s-1 first datasets, and indicates the number of groups within the second dataset.

8. The method according to any one of claims 1 to 7, characterized in that, Also includes: Receive fifth information, the fifth information indicating the coordinates of a point of the target object within a first range; The coordinates of the points within the n groups do not include the coordinates of the points within the first range.

9. The method as described in claim 8, characterized in that, The fifth piece of information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1; The method further includes: The coordinates of points within the first range are determined based on the coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points.

10. The method according to any one of claims 1 to 9, characterized in that, The distance between any two cluster center points in the coordinates of the m cluster center points corresponding to the m groups is greater than or equal to the first threshold.

11. The method as described in claim 10, characterized in that, The distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: dist(c i1, c i2 )≥d, 1≤i1<i2≤m; wherein c i1 represents the coordinates of the ith2 clustering center point among the coordinates of the m clustering center points, dist(c i2 represents the coordinates of the ith2 clustering center point among the coordinates of the m clustering center points, dist(c i1, c i2 ) represents the distance between the coordinates of the ith1 clustering center point and the coordinates of the ith2 clustering center point, and d represents the first threshold value.

12. The method according to any one of claims 1 to 11, characterized in that, The overlap between any two groups in the m groups is less than or equal to the second threshold.

13. The method as described in claim 12, characterized in that, The overlap between the i1th group and the i2th group among the m groups satisfies: in, N represents the i-th group among the m groups. i1 This represents the number of coordinates of points within the i1th group. N represents the i2th group among the m groups. i2 This represents the number of coordinates of points within the i2th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1th group and the i2th group. Indicates taking and The larger value in the range, where α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

14. A communication method, characterized in that, The method includes: The system receives the coordinates of n cluster centers and the coordinates of m points within the n groups. The coordinates of the n cluster centers and the n groups are obtained by clustering the coordinates of multiple points corresponding to the target object. The coordinates of the n cluster centers correspond one-to-one with the n groups. The n is an integer greater than 1 and the m is a positive integer less than n. Based on the coordinates of the n cluster centers and the coordinates of the points in the m groups of the n groups, determine the coordinates of the points in the remaining nm groups.

15. The method as described in claim 14, characterized in that, The number of coordinates of points in each of the m groups is N.

16. The method as described in claim 14, characterized in that, Also includes: Receive first information, which indicates m and n.

17. The method as described in claim 14, characterized in that, Also includes: Receive second information, the second information indicating a bit sequence of length n, wherein the n bits of the bit sequence correspond one-to-one with the coordinates of the n cluster centers, the m first bit values ​​in the bit sequence indicate the coordinates of the m cluster centers among the coordinates of the n cluster centers, the coordinates of the m cluster centers correspond one-to-one with the m groups, and the remaining nm second bit values ​​in the bit sequence indicate the coordinates of the remaining nm cluster centers.

18. The method as described in claim 16 or 17, characterized in that, Also includes: Receive third information, which indicates the number of coordinates of points in each of the m groups.

19. The method as described in claim 14, characterized in that, The process of receiving the coordinates of n cluster centers and the coordinates of points within m groups out of the n groups includes: Receive s-1 first datasets and 1 second dataset. Each of the s-1 first datasets includes at least one group from the m groups and the coordinates of the cluster center points corresponding to the at least one group. The number of coordinates of points in each group is the same. The second dataset includes the coordinates of the nm cluster center points corresponding to the remaining nm groups. s is an integer greater than 1.

20. The method as described in claim 19, characterized in that, Also includes: Receive fourth information, which indicates the number of groups and the number of coordinates of points within each of the s-1 first datasets, and indicates the number of groups within the second dataset.

21. The method according to any one of claims 14 to 20, characterized in that, Also includes: Send a fifth message, the fifth message indicating the coordinates of a point of the target object within a first range; The coordinates of the points within the n groups do not include the coordinates of the points within the first range.

22. The method as described in claim 21, characterized in that, The fifth piece of information includes the coordinates of k reference points and the radii corresponding to the coordinates of the k reference points, where k is an integer greater than or equal to 1. The coordinates of the k reference points and the radii corresponding to the coordinates of the k reference points are used to determine the coordinates of points within the first range.

23. The method according to any one of claims 14 to 22, characterized in that, The distance between any two cluster center points in the coordinates of the m cluster center points corresponding to the m groups is greater than or equal to the first threshold.

24. The method as described in claim 23, characterized in that, The distance between the coordinates of the i1th cluster center and the i2th cluster center among the coordinates of the m cluster centers corresponding to the m groups satisfies: in, This represents the coordinates of the i1-th cluster center among the m cluster center points. This represents the coordinates of the 2nd cluster center among the m cluster center points. The distance between the coordinates of the i1th cluster center and the i2th cluster center is represented by d, and the first threshold is represented by d.

25. The method according to any one of claims 14 to 24, characterized in that, The overlap between any two groups in the m groups is less than or equal to the second threshold.

26. The method as described in claim 25, characterized in that, The overlap between the i1th group and the i2th group among the m groups satisfies: in, This represents the i1-th group among the m groups. This represents the number of coordinates of points within the i1th group. This represents the i2th group among the m groups. This represents the number of coordinates of points within the i2th group, and ∩ represents the intersection operation. This represents the number of coordinates of points within the intersection of the i1th group and the i2th group. Indicates taking and The larger value in the range, where α represents the second threshold. This indicates the degree of overlap between the i1th group and the i2th group.

27. The method according to any one of claims 14 to 26, characterized in that, The step of determining the coordinates of the remaining nm groups based on the coordinates of the n cluster centers and the coordinates of the points in m groups out of the n groups includes: The first feature vector is determined based on the coordinates of the points within the m groups; The second feature vector is determined based on the coordinates of the n cluster centers; Based on the first feature vector and the second feature vector, determine the coordinates of the points within the remaining nm groups.

28. A communication device, characterized in that, The device includes a processor coupled to a memory storing a computer program; the processor is configured to invoke part or all of the computer program in the memory such that the method as claimed in any one of claims 1 to 13 is executed, or the method as claimed in any one of claims 14 to 27 is executed.

29. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when part or all of the computer program is executed by a communication device, causes the method as described in any one of claims 1 to 13 to be executed, or causes the method as described in any one of claims 14 to 27 to be executed.

30. A computer program product, characterized in that, When the communication device reads and executes the computer program product, it causes the method as described in any one of claims 1 to 13 to be executed, or causes the method as described in any one of claims 14 to 27 to be executed.

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