Communication method and apparatus

Abstract

A communication method and apparatus, which are used for improving the sensing accuracy of multiple scattering in bi-static sensing. In the present application, the method comprises: a first communication apparatus receiving density information from a second communication apparatus, wherein the density information is used for indicating the distribution condition of M first scatter points in a sensing space; on the basis of the density information, the first communication apparatus determining the coordinates of N second scatter points in the sensing space; and the first communication apparatus sending to the second communication apparatus the coordinates of the N second scatter points in the sensing space, wherein M and N are both integers greater than 1.

Description

Communication method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on December 27, 2023, with application number 202311832443.2 and invention name "A Communication Method and Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of the present application relate to the field of wireless communications, and in particular to a communication method and apparatus. Background Art

[0004] Perception, also known as wireless sensing, involves emitting electromagnetic energy into space. By receiving radio waves reflected from objects within that space, information about the objects can be calculated. This includes parameters such as location, direction, altitude, speed, size, and path, as well as the internal and external shape and structure of objects. By exploring the transmission, echo, reflection, and scattering of radio waves, we can perceive and better understand the physical world. As a form of electromagnetic wave sensing technology, wireless sensing technology, due to its penetrating and secure nature, is an important alternative for security inspections, hidden object detection, environmental reconstruction, and monitoring.

[0005] Currently, the main sensing modes include monostatic sensing and bistatic sensing (single scattering). Monostatic sensing is self-transmitting and self-receiving. For example, the base station transmits a sensing signal and receives sensing signals scattered back through scattering points (scatter). The base station performs sensing based on the transmitted and received sensing signals. Bistatic sensing is self-transmitting and other-receiving. For example, the base station transmits a sensing signal, which is then received by the user equipment (UE) after single scattering. The UE performs sensing based on the received sensing signal. Considering the limited range of the two sensing modes of monostatic sensing and bistatic sensing (single scattering), the multi-scattering sensing mode of bistatic sensing is further introduced. However, the sensing accuracy of multi-scattering in bistatic sensing is lower than that of the previous two.

[0006] How to improve the perception accuracy of multiple scattering in bistatic sensing is a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The present application provides a communication method and apparatus for improving the perception accuracy of multiple scattering in bistatic perception.

[0008] In a first aspect, the present application provides a communication method, which can be interactively executed by a first communication device and a second communication device.

[0009] The first communication device may be a UE, and the second communication device may be a base station; alternatively, the first communication device and the second communication device may be two different base stations. Furthermore, the first communication device may be a module (e.g., a chip) in a device, such as the first communication device being a module in a base station or a UE; the second communication device may be a module (e.g., a chip) in a device, such as the second communication device being a module in a base station.

[0010] Alternatively, when the sensing management function (SMF) and the base station are deployed separately, the first communication device can be the base station and the second communication device can be the SMF. Furthermore, the SMF can be a network element in a hardware device, a software function running on dedicated hardware, or a virtualized function instantiated on a platform (for example, a cloud platform). Optionally, the SMF can be implemented by one device, or by multiple devices together, or it can be a functional module within a device. In addition, the first communication device can also be a module (such as a chip) in the base station.

[0011] The communication method includes: a second communication device sending density information to a first communication device, and the first communication device receiving the density information from the second communication device. The density information indicates the distribution of M first scattering points in a perception space. The first communication device determines the coordinates of N second scattering points in the perception space based on the density information. The first communication device sends the coordinates of the N second scattering points in the perception space to the second communication device. M and N are both integers greater than 1.

[0012] In the above technical solution, the second communication device transmits density information to the first communication device. The density information specifically represents the distribution of M known scattering points in the perception space. The first communication device then determines the coordinates of N scattering points in the perception space based on the density information. The density information improves the accuracy of the first communication device's determination of the coordinates of the scattering points in the perception space, thereby improving the perception accuracy of multiple scattering in bistatic sensing.

[0013] In one possible implementation, the perception space includes multiple perception subspaces, the density information includes density distribution information, and the density distribution information includes the number of first scattering points included in each of the multiple perception subspaces. Exemplarily, the first communication device and the second communication device pre-negotiate to use a first calculation method to determine the coordinates of the N second scattering points. That is, after receiving the density information, the first communication device may determine the coordinates of the N second scattering points based on the density distribution information in the density information and the first calculation method.

[0014] In the above technical solution, when the second communication device sends density information to the first communication device, it does not need to use the density information to indicate to the first communication device which calculation method to use to determine the coordinates of the N second scattering points, thereby reducing signaling interactions. Furthermore, the first communication device does not need to determine which calculation method to use to determine the coordinates of the N second scattering points based on the format of the density distribution information, thereby reducing the judgment logic of the first communication device.

[0015] In one possible implementation, the density information includes a perception range, and the perception space is determined based on the perception range. The perception range is determined based on one or more of the following: the location of a transmitter of a perception signal, the location of a receiver of the perception signal, the transmission angle of the perception signal, or the reception angle of the perception signal. Exemplarily, the perception range includes the coordinate ranges of the perception space on the x, y, and z axes, respectively, in a world coordinate system.

[0016] In the above technical solution, the density information includes the perception range. The first communication device can use the density distribution information and the perception range in the density information to determine the coordinates of N second scattering points, which helps to further improve the perception accuracy of multiple scattering in dual-base perception.

[0017] In one possible implementation, the density information includes a type indicator, which indicates a calculation method for determining the coordinates of the N second scattering points by the first communication device. Exemplarily, the calculation method includes: the first communication device determining the coordinates of the N second scattering points based on the number of first scattering points respectively included in multiple perception subspaces, where the perception space includes multiple perception subspaces; and / or the first communication device determining the coordinates of the N second scattering points based on the coordinates of the M first scattering points.

[0018] In the above technical solution, different type indicators are used to indicate different calculation methods for determining the coordinates of the N second scattering points. The first communication device can determine the calculation method corresponding to the type indicator based on the type indicator, which helps improve the perception accuracy of multiple scattering in bistatic sensing. The first communication device can also support the use of multiple calculation methods to determine the coordinates of the N second scattering points, thereby improving perception flexibility.

[0019] In one possible implementation, when the first communication device determines the coordinates of N second scattering points in the perception space based on the density information, the second communication device may specifically send a perception signal to the first communication device, and the first communication device may determine the coordinates of the N second scattering points in the perception space based on the density information and the received perception signal.

[0020] In one possible implementation, when the first communication device determines the coordinates of N second scattering points in the perception space based on the density information and the received perception signal, the first communication device may specifically determine, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the perception space, where the transmission path includes the N second scattering points; the first communication device determines the coordinates of the N second scattering points in the perception space based on the density information and the transmission parameter; wherein the transmission parameter includes at least one or more of the following: a transmission duration of the perception signal, a transmission angle of the perception signal, or a reception angle of the perception signal.

[0021] In the above technical solution, the second communication device sends a perception signal to the first communication device. The first communication device determines the transmission parameters corresponding to the transmission path of the perception signal in the perception space based on the received perception signal, and then determines the coordinates of N second scattering points in the perception space based on the density information and the transmission parameters, which helps to further improve the perception accuracy of multiple scattering in dual-base perception.

[0022] In a second aspect, the present application provides a communication device having the function of implementing the first aspect or any possible implementation of the first aspect as described above, or the function of the second communication device.

[0023] The functions of the above-mentioned communication device can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules, units or means corresponding to the above-mentioned functions.

[0024] In one possible implementation, the structure of the device includes a processing module and a transceiver module, wherein the processing module is configured to support the device in implementing the functions of the first communication device or the second communication device in the first aspect or any possible implementation of the first aspect. The transceiver module is used to support communication between the device and other communication devices. For example, when the device is a first communication device, it can receive density information from a second communication device. The communication device may also include a storage module, which is coupled to the processing module and stores program instructions and data necessary for the device. As an example, the processing module may be a processor, the communication module may be a transceiver, and the storage module may be a memory. The memory may be integrated with the processor or provided separately from the processor.

[0025] In another possible implementation, the structure of the device includes a processor and may also include a memory. The processor is coupled to the memory and can be used to execute computer program instructions stored in the memory to enable the device to implement the functions of the first communication device or the second communication device in the first aspect or any possible implementation of the first aspect. Optionally, the device also includes a communication interface, and the processor is coupled to the communication interface. When the device is a network device or a terminal device, the communication interface can be a transceiver or an input / output interface; when the device is a chip included in the network device or a chip included in the terminal device, the communication interface can be the input / output interface of the chip. Optionally, the transceiver can be a transceiver circuit, and the input / output interface can be an input / output circuit.

[0026] In a third aspect, an embodiment of the present application provides a chip system comprising: a processor and a memory, the processor being coupled to the memory, the memory being used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip system enables the function of the first communication device or the function of the second communication device in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0027] Optionally, the chip system further includes an interface circuit for transmitting interactive code instructions to the processor.

[0028] Optionally, there may be one or more processors in the chip system, and the processor may be implemented in hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0029] Optionally, the memory in the chip system may be one or more. The memory may be integrated with the processor or provided separately from the processor. Exemplarily, the memory may be a non-transient processor, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or provided on different chips.

[0030] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the first communication device or the function of the second communication device in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0031] In a fifth aspect, the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the first communication device or the function of the second communication device in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0032] In a sixth aspect, an embodiment of the present application provides a communication system, which includes a first communication device in the above-mentioned first aspect or any possible implementation of the first aspect, and a second communication device in the above-mentioned first aspect or any possible implementation of the first aspect.

[0033] The technical effects that can be achieved in any of the second to sixth aspects mentioned above can refer to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a schematic diagram of a communication system architecture provided by this application;

[0035] FIG2 is a schematic diagram of a scene in a single-base sensing mode provided by this application;

[0036] FIG3 is a schematic diagram of a scene in a dual-base sensing mode provided by the present application;

[0037] FIG4 is a schematic diagram of the architecture of a communication perception integrated system provided by the present application;

[0038] FIG5 is a flow chart of a communication method provided by the present application;

[0039] FIG6 is a schematic diagram of a density matrix provided by the present application;

[0040] FIG7 is a schematic diagram of a structure of density information provided by this application;

[0041] FIG8 is a schematic diagram of a perception signal provided by the present application being scattered N times in a perception space;

[0042] FIG9 is a flowchart of a communication method in a first specific scenario provided by this application;

[0043] FIG10 is a flowchart of a communication method in a second specific scenario provided by this application;

[0044] FIG11 is a flowchart of a communication method in a third specific scenario provided by this application;

[0045] FIG12 is a flowchart of a communication method for a fourth specific scenario provided by this application;

[0046] FIG13 is a schematic structural diagram of a communication device provided by the present application;

[0047] FIG14 is a schematic structural diagram of another communication device provided in this application. DETAILED DESCRIPTION

[0048] The following first explains the relevant technical features involved in the embodiments of the present application. It should be noted that these explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the present application.

[0049] The technical solutions of the embodiments of the present application can be applied to new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, world-wide interoperability for microwave access (WiMAX) communication systems, and next-generation wireless communication systems such as 6G, without limitation.

[0050] FIG1 is a schematic diagram of the architecture of a communication system 1000 used in an embodiment of the present application. As shown in FIG1 , the communication system includes a wireless access network 100. The wireless access network 100 may include at least one wireless access network device (such as 110a and / or 110b in FIG1 ) and may also include at least one terminal device (such as at least one of 120a-120j in FIG1 ). The terminal device is connected to the access network device wirelessly, and the access network device is connected to the core network device wirelessly or by wire. Terminal devices and wireless access network devices may be connected to each other by wire or by wireless. FIG1 is merely a schematic diagram, and the communication system may also include other wireless access network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in FIG1 .

[0051] Radio access network equipment is a network-side device with wireless transceiver capabilities. Radio access network equipment can be a device in a radio access network (RAN) that provides wireless communication capabilities for terminal devices, and is called a RAN. For example, radio access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a fifth-generation (5G) mobile communication system, a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. It can also be a module or unit that performs some of the functions of a base station, such as a centralized unit (CU) or a distributed unit (DU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part of the physical layer or all of the physical layer. For the specific description of the above-mentioned various protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The wireless access network device can be a macro base station (such as 110a in Figure 1), a micro base station or an indoor station (such as 110b in Figure 1), or a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the wireless access network device.

[0052] In another possible scenario, multiple radio access network devices collaborate to assist the terminal device in achieving wireless access, and different radio access network devices respectively implement part of the functions. For example, the radio access network device can be a CU, DU, CU-control plane (CP), CU-user plane (UP), or radio unit (RU). The CU and DU can be set separately, or can also be included in the same network element, for example, included in the baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, for example, included in a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH). In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples for description. Any of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0053] A terminal device is a user-side device with wireless transceiver capabilities. A terminal device may also be referred to as user equipment (UE), a mobile station, a mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), the Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home appliance, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0054] Wireless access network equipment and terminal devices can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of wireless access network equipment and terminal devices.

[0055] The roles of wireless access network devices and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile wireless access network device. For terminal devices 120j accessing the wireless access network 100 via 120i, terminal device 120i is a wireless access network device. However, for wireless access network device 110a, 120i is a terminal device, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via an interface protocol between wireless access network devices. In this case, 120i is also a wireless access network device relative to 110a. Therefore, wireless access network devices and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be referred to as communication devices with wireless access network device functionality, and 120a-120j in Figure 1 can be referred to as communication devices with terminal device functionality.

[0056] In the embodiments of the present application, the functions of the wireless access network device may also be performed by a module (such as a chip) in the wireless access network device, or by a control subsystem that includes the functions of the wireless access network device. The control subsystem that includes the functions of the wireless access network device here can be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal device may also be performed by a module (such as a chip or modem) in the terminal device, or by a device that includes the functions of the terminal device.

[0057] In the following description, the wireless access network device is a base station and the terminal device is a UE. Methods performed by the wireless access network device, a module (such as a chip) in the wireless access network device, or a control subsystem including wireless access network device functions are described as being performed by the base station; methods performed by the terminal device, a module (such as a chip) in the terminal device, or a device including terminal device functions are described as being performed by the UE.

[0058] Communication and perception integration refers to the integration of electromagnetic signals used for communication and perception. Traditionally, active positioning targets primarily consisted of UEs that emit electromagnetic waves, such as mobile phones, vehicles, and Internet of Things (IoT) devices. However, virtual environment reconstruction targets further include passive objects, such as buildings, urban infrastructure (such as billboards and bridges), and vehicles (such as vehicles and bicycles). By receiving electromagnetic wave signals propagating through the spatial environment, the composition of the spatial environment is determined. Through the detection and reconstruction of the virtual environment (active and passive objects and devices), further assisted positioning or communication performance improvement is achieved. Base stations and UEs are the primary devices involved in virtual environment reconstruction. Perception quality is related to sensory resources, space, time, frequency band, power consumption, and site. A site can refer to a base station, UE, or customer premises equipment (CPE).

[0059] Based on whether the transmitter and receiver of the sensing signal are co-located or separated, the sensing modes are mainly divided into monostatic sensing, bistatic sensing, and multistatic sensing. Multistatic sensing generally consists of monostatic sensing and bistatic sensing.

[0060] Figure 2 shows a schematic diagram of a scenario in monostatic sensing mode. The transmitter and receiver are co-located, and the sensing signal can use data payloads. Therefore, this sensing function does not consume communication resources. Furthermore, since the transmitter and receiver are co-sourced, non-ideal factors such as synchronization are eliminated, resulting in improved sensing algorithm complexity and estimation accuracy. Because the signal is transmitted and received independently, the angular range of the detected signal is strongly correlated with the ambient incident angle. The reflected signal from an object rapidly decays as the incident angle increases. This means that the range of the spatial environment that can be sensed in the monostatic sensing mode is significantly affected by the material and placement angle of the target object. In monostatic sensing, the sensing signal sent by the transmitter is typically received by the receiver after a single scattering event. This allows the receiver to accurately determine the spatial environment.

[0061] Figure 3 shows a scenario diagram for a dual-static sensing mode. The transmitter and receiver are located at different locations, and the sensing signal requires a dedicated pilot or known signal. Therefore, this sensing function consumes communication resources. Furthermore, since the transmitter and receiver are from different sources, non-ideal factors such as synchronization and phase noise exist. This results in poor sensing algorithm complexity and estimation accuracy, requiring a complex calibration algorithm to address these issues. In dual-static sensing, due to the use of self-transmission and other-reception, the range of the spatial environment it can perceive is relatively large, and this range also increases as the receiver moves. Furthermore, the sensing signal sent by the transmitter can be received by the receiver after either a single scattering or multiple scattering. Currently, the spatial environment solution accuracy for multiple scattering is lower than that for single scattering, but the range of the spatial environment that can be perceived by multiple scattering is larger than that for single scattering.

[0062] Based on the architectural diagram of the communication system shown in FIG1 , and the scenario diagrams shown in FIG2 and FIG3 , FIG4 is an architectural diagram of an integrated communication perception system exemplified in the present application, and the integrated communication perception system includes a sensing management function (SMF), a base station and a UE. There can be one or more SMFs, each SMF can be connected to one or more base stations, and each base station can be used to serve one or more UEs. In FIG4 , the SMF and the base station are deployed separately, but in actual applications, the SMF and the base station can also be deployed in combination, that is, an SMF is deployed in a certain base station, and correspondingly, other base stations are connected to the SMF deployed in the base station. It should be noted that there can be other names for the sensing function, which is not limited in the present application.

[0063] This integrated communication and perception system is used to sense scattering points in a spatial environment. Specifically, a spatial environment may include multiple scatterers (such as buildings, urban facilities, and vehicles). When a sensing signal strikes a point on a scatterer, that point (called a scattering point) scatters the sensing signal. Therefore, the sensing calculation specifically involves sensing the coordinates of the scattering point on the scatterer. Furthermore, the shape of the scatterer can be constructed based on the multiple scattering points.

[0064] Furthermore, the SMF is used to centrally store, manage, distribute, and calculate information about scattering points in the space environment. The base station is used to centrally store, manage, distribute, and calculate information about scatterers in the part of the space environment where the base station is located.

[0065] In addition, in single-base sensing, the base station can act as a transmitter and receiver to autonomously transmit and receive sensing signals to achieve sensing of scattering points in the spatial environment. In dual-base sensing, the base station acts as a transmitter to transmit sensing signals, and the UE acts as a receiver to receive the sensing signals. The UE then senses the scattering points in the spatial environment based on the received sensing signals. Alternatively, the two base stations are base station 1 and base station 2, where base station 1 acts as a transmitter to transmit sensing signals and base station 2 acts as a receiver to receive sensing signals. Base station 2 then senses the scattering points in the spatial environment based on the received sensing signals. For further descriptions of the base station and UE, please refer to the description of the embodiment related to FIG1 .

[0066] As shown in Figure 5, a flow chart of a communication method exemplarily provided in the present application, density information is introduced into the communication method, and the density information is used to indicate the distribution of known scattering points in the perception space. The density information can then be used to determine the coordinates of new scattering points, thereby helping to improve the perception accuracy in the multiple scattering perception mode of dual-base perception.

[0067] The communication method can be interactively executed by the first communication device and the second communication device. The first communication device and the second communication device can be the base station and SMF in Figure 4, respectively, or two base stations in Figure 4 (such as base station 2 and base station 1), respectively, or the UE and base station in Figure 4, respectively. The different implementation methods of the first communication device and the second communication device can be referred to the description in the specific embodiments of Figures 9 to 12 below.

[0068] Step 501: The second communication device sends density information to the first communication device. Correspondingly, the first communication device receives the density information from the second communication device.

[0069] The density information is used to indicate the distribution of M first scattering points in the perception space, where M is an integer greater than 1.

[0070] Specifically, the density information includes density distribution information, which is used to indicate the distribution of the M first scattering points in the perception space. The content included in the density distribution information is explained as follows.

[0071] In a first implementation, the perception space includes multiple perception subspaces, and the density distribution information includes the number of first scattering points included in each of the multiple perception subspaces. Exemplarily, the second communication device divides the perception space into the multiple perception subspaces and determines the number of first scattering points included in each perception subspace. For example, the second communication device may store the coordinates of multiple known scattering points. The second communication device may determine the number of known scattering points (i.e., first scattering points) whose coordinates lie within each perception subspace based on the boundaries of each perception subspace.

[0072] In a specific implementation, the perception space may be a large cuboid, and the second communication device may divide the perception space into grids according to preset length, width, and height to obtain multiple grids, and then use the multiple grids as multiple perception subspaces.

[0073] Exemplarily, the second communication device divides the sensing space into I grids in the x-axis direction, J grids in the y-axis direction, and K grids in the z-axis direction, thereby obtaining I×J×K grids, where I, J, and K are all integers greater than 1. Furthermore, the second communication device determines the number of first scattering points contained in each grid, uses this number as the value of the element corresponding to the grid, and then generates a density matrix based on the values ​​of the elements corresponding to each grid. The density matrix is ​​the density distribution information.

[0074] As shown in Figure 6, a schematic diagram of a density matrix provided as an example in the present application, the density matrix includes 3×4×2 elements, that is, I=3, J=4, K=2, and the second communication device divides the perception space into 3×4×2 grids. Furthermore, the value of the element at the corresponding position of (1,1,1) in the density matrix is ​​300, indicating that there are 300 first scattering points in the corresponding grid; the value of the element at the corresponding position of (2,1,1) in the density matrix is ​​310, indicating that there are 310 first scattering points in the corresponding grid; the rest is similar and will not be repeated.

[0075] In a second implementation, the density distribution information includes the coordinates of the M first scattering points. For example, the second communication device stores the coordinates of multiple known scattering points. The second communication device can determine the M known scattering points (i.e., the M first scattering points) whose coordinates are within the perception space, as well as the coordinates of the M first scattering points, based on the coordinates of the multiple known scattering points and the boundary of the perception space.

[0076] In a possible implementation, the density information may include not only density distribution information but also a perception range and / or a type indication. The perception range and type indication are respectively described below.

[0077] (1) Perception range

[0078] The perception range may be a boundary of the perception space.

[0079] In one possible implementation, the sensing range may be determined by the second communication device based on one or more of the following: a location of a transmitter of the sensing signal, a location of a receiver of the sensing signal, a transmitting angle of the sensing signal, or a receiving angle of the sensing signal.

[0080] Optionally, the second communication device is the transmitter of the perception signal, for example, the second communication device and the transmitter are both base stations in a dual-base perception mode; or, the second communication device is used to manage the transmitter of the perception signal, for example, the second communication device is an SMF and the transmitter is a base station.

[0081] In Example 1, the second communication device determines the sensing range based on the position of the transmitter of the sensing signal. For example, the distance between any position in the sensing range and the position of the transmitter of the sensing signal is less than a first preset value.

[0082] For example, the first preset value is determined based on the transmit power of the sensing signal transmitted by the transmitting end, the minimum detectable power of the receiving end, the transmit antenna gain, the receive antenna gain, and the frequency of the sensing signal. For example, the second communication device determines the first preset value according to the following formula 1:

[0083] Wherein, d is the first preset value, P t is the transmission power of the sensing signal transmitted by the transmitter, P r,min is the minimum detectable power at the receiving end, G t is the transmitting antenna gain, G r is the receiving antenna gain, and f is the frequency of the perceived signal.

[0084] Furthermore, taking Formula 1 as an example, the transmission power of the perception signal transmitted by the transmitting end is 10dBm, the minimum detectable power of the receiving end is -60dBm, the transmitting antenna gain and the receiving antenna gain are both 5dBi, and the frequency f of the perception signal is 2.4GHz. Then, the second communication device can calculate the first preset value d of approximately 99.5m according to Formula 1.

[0085] In Example 2, the second communication device determines the sensing range based on the transmission angle of the transmitter of the sensing signal. For example, the difference between the angle of a line connecting any position in the sensing range and the transmitter and the transmission angle of the sensing signal sent by the transmitter is less than a second preset value. The second preset value can be 1°, 5°, 10°, or another value.

[0086] In Example 3, the second communication device determines a sensing range based on the location of the receiving end of the sensing signal. For example, the distance between any location in the sensing range and the location of the receiving end of the sensing signal is less than a third preset value. For example, the third preset value is determined based on the transmit power of the sensing signal transmitted by the transmitting end, the minimum detectable power of the receiving end, the transmit antenna gain, the receive antenna gain, and the frequency of the sensing signal. For example, the second communication device determines the third preset value based on Formula 1 in Example 1.

[0087] In Example 4, the second communication device determines the sensing range based on a reception angle of a receiving end of the sensing signal. For example, the difference between the angle of a line connecting any position in the sensing range and the receiving end and the reception angle of the sensing signal received by the receiving end is less than a fourth preset value. The fourth preset value can be 1°, 5°, 10°, or another value.

[0088] In Example 5, the second communication device determines a sensing range based on a position of a transmitter of the sensing signal and a transmission angle of the transmitter of the sensing signal. For example, a distance between any position in the sensing range and the position of the transmitter of the sensing signal is less than a first preset value, and an angle difference between an angle between any position in the sensing range and the transmitter and a transmission angle of the sensing signal sent by the transmitter is less than a second preset value.

[0089] In Example 6, the second communication device determines a sensing range based on a position of a receiving end of the sensing signal and a reception angle of the receiving end of the sensing signal. For example, a distance between any position in the sensing range and the position of the receiving end of the sensing signal is less than a third preset value, and an angle difference between an angle between any position in the sensing range and the receiving end and a reception angle of the sensing signal received by the receiving end is less than a fourth preset value.

[0090] In Example 7, the second communications device determines a sensing range based on a location of a transmitter of the sensing signal and a location of a receiver of the sensing signal. For example, a distance between any location in the sensing range and the location of the transmitter of the sensing signal is less than a first preset value, or a distance between any location in the sensing range and the location of the receiver of the sensing signal is less than a third preset value.

[0091] In Example 8, the second communication device determines a sensing range based on a transmission angle of a transmitter of the sensing signal and a reception angle of a receiver of the sensing signal. For example, the difference between the angle of a line connecting any position in the sensing range and the transmitting end and the transmission angle at which the sensing signal is transmitted by the transmitting end is less than a second preset value, or the difference between the angle of a line connecting any position in the sensing range and the receiving end and the reception angle at which the sensing signal is received by the receiving end is less than a fourth preset value.

[0092] The above is only an example of a possible method for the second communication device to determine the sensing range. The second communication device can also determine the sensing range in other ways, which are not limited in this application. The method for determining the preset value in Examples 5 to 8 can refer to the description of Examples 1 to 4 above.

[0093] In one possible implementation, the perception range may be the coordinate range of the x, y, and z axes of the perception space in the world coordinate system, respectively. For example, the perception range may be expressed in the world coordinate system as (x_min, x_max, y_min, y_max, z_min, z_max), or (x_min, x_delta, y_min, y_delta, z_min, z_delta), or (x_max, x_delta, y_max, y_delta, z_max, z_delta), where x_min, x_max, and x_delta are the minimum coordinate, maximum coordinate, and change of the x-axis of the perception range in the world coordinate system, respectively; y_min, y_max, and y_delta are the minimum coordinate, maximum coordinate, and change of the y-axis of the perception range in the world coordinate system; and z_min, z_max, and z_delta are the minimum coordinate, maximum coordinate, and change of the z-axis of the perception range in the world coordinate system.

[0094] Furthermore, in the above example 1, the second communication device may first determine, based on the position of the transmitter of the perception signal, a range (referred to as the preset range) in which the distance between the second communication device and the position of the transmitter of the perception signal is less than a first preset value, and then determine the perception range based on the preset range, for example, the perception range includes the preset range, or the perception range is determined from the preset range; in the above example 2, the second communication device first determines, based on the transmission angle of the transmitter of the perception signal, a range (referred to as the preset range) in which the angle difference between the angle of the line connecting the second communication device and the transmission angle of the transmitter sending the perception signal is less than a second preset value, and then determine the perception range based on the preset range, for example, the perception range includes the preset range, or the perception range includes a part of the preset range, or the perception range is determined from the preset range, and other examples are similar.

[0095] (2) Type indication

[0096] Optionally, the density information also includes a type indicator, which indicates a calculation method used by the first communication device to determine the coordinates of the N second scattering points. It should be noted that the first communication device may include multiple calculation methods. When determining the coordinates of the N second scattering points in the perception space based on the density information, the first communication device may first select a calculation method corresponding to the type indicator from the multiple calculation methods based on the type indicator, and then determine the coordinates of the N second scattering points in the perception space based on the selected calculation method and the density information (see description in step 502).

[0097] In one possible embodiment, the type indication and the calculation method have a corresponding relationship. When the type indication is a first type indication, the calculation method corresponding to the type indication is the first calculation method; when the type indication is a second type indication, the calculation method corresponding to the type indication is the second calculation method; when the type indication is a third type indication, the calculation method corresponding to the type indication is the third calculation method, and so on.

[0098] Exemplarily, the value of the type indication is used to indicate which type indication the type indication is. For example, when the value of the type indication is 0, it is a first type indication, when the value of the type indication is 1, it is a second type indication, when the value of the type indication is 2, it is a third type indication, etc. For another example, the type indication field occupies 2 bits, when the type indication field is 00, it is a first type indication, when the type indication field is 01, it is a second type indication, when the type indication field is 10, it is a third type indication, etc.

[0099] In another possible manner, the type indication is used to indicate the format of the density distribution information and / or the method for determining the perception range. Further, the format of the density distribution information and / or the method for determining the perception range has a corresponding relationship with the calculation method.

[0100] Exemplarily, when the type indication is a first type indication, the characterization density distribution information includes the number of first scattering points in multiple perception subspaces, thereby indicating that the calculation method is the first calculation method; when the type indication is a second type indication, the characterization density distribution information includes the coordinates of M first scattering points, and the perception range is based on the position of the transmitting end of the perception signal, thereby indicating that the calculation method is the second calculation method; when the type indication is a third type indication, the characterization density distribution information includes the coordinates of M first scattering points, and the perception range is determined based on the transmission angle of the perception signal, thereby indicating that the calculation method is the third calculation method, etc.

[0101] Of course, the type indication may also be another type indication, thereby indicating another calculation method, or the type indication may also be another type indication, thereby indicating another format of density distribution information and / or a method for determining the perception range. In conjunction with the examples in Examples 1 to 6 above, for example, the type indication may also be a fourth type indication, where the fourth type indication indicates that the density distribution information includes the coordinates of M first scattering points, and the perception range is determined based on the position of the receiving end of the perception signal, thereby indicating that the calculation method is the fourth calculation method. For another example, the type indication may also be a fifth type indication, where the fifth type indication indicates that the density distribution information includes the coordinates of M first scattering points, and the perception range is determined based on the receiving angle of the perception signal, thereby indicating that the calculation method is the fifth calculation method.

[0102] As shown in Figure 7, a structural diagram of density information provided by an example of this application, the density information includes a type indication, a perception range, and density distribution information. As shown in Figure 7 (A), the value of the type indication is 0, the value of the perception range is (x0_min, x0_max, y0_min, y0_max, z0_min, z0_max), and the density distribution information is a density matrix M. The density matrix M includes I×J×K elements. The density matrix M can be expressed as array[I][J][K]. The value of the element in the i-th row, j-th column, and k-th layer of the density matrix M is the number of the first scattering points in the i-th row, j-th column, and k-th layer grid. i takes an integer from [1, I], j takes an integer from [1, J], and k takes an integer from [1, K]. As shown in Figure 7 (B), the value of the type indicator is 1, the value of the perception range is (x1_min, x1_max, y1_min, y1_max, z1_min, z1_max), and the value of the density distribution information is the coordinates of the first scattering point 1, the coordinates of the first scattering point 2, ..., the coordinates of the first scattering point M. As shown in Figure 7 (C), the value of the type indicator is 2, the value of the perception range is (x2_min, x2_max, y2_min, y2_max, z2_min, z2_max), and the value of the density distribution information is the coordinates of the first scattering point 1, the coordinates of the first scattering point 2, ..., the coordinates of the first scattering point M.

[0103] Optionally, before step 501, the second communication device may first obtain density information of the perception space. Exemplarily, the second communication device determines the density information of the perception space based on a sensing pattern of monostatic sensing, or a sensing pattern of single scattering in bistatic sensing. Furthermore, exemplarily, the second communication device obtains the density information of the perception space from another device. For detailed descriptions, please refer to the descriptions of the embodiments related to Figures 9 to 12.

[0104] In step 502, the first communication device determines the coordinates of N second scattering points in the sensing space based on the density information. The N second scattering points are scattering points corresponding to the sensing signal being scattered N times in the sensing space, where N is an integer greater than 1.

[0105] Figure 8 is a schematic diagram of an exemplary sensing signal provided in the present application being scattered N times in the sensing space. As shown in Figure 8 (A), the transmitting end of the sensing signal is the base station, and the receiving end of the sensing signal is the UE. The sensing signal is sent by the base station and received by the UE after being scattered twice. The scattering points corresponding to the two scatterings are scattering point 1 and scattering point 2, respectively, where N=2; as shown in Figure 8 (B), the transmitting end of the sensing signal is base station 1, and the receiving end of the sensing signal is base station 2. The sensing signal is sent by base station 1 and received by base station 2 after being scattered three times. The scattering points corresponding to the three scatterings are scattering point 3, scattering point 4, and scattering point 5, where N=3.

[0106] In a first possible implementation, the density information includes density distribution information, which specifically includes the number of first scattering points included in each of the multiple perception subspaces. The first communication device may obtain the density distribution information from the density information and, based on the format of the density distribution information (e.g., the density matrix in FIG6 ), determine to use a first calculation method to determine the coordinates of the N second scattering points in the perception space. In another possible implementation, the second communication device and the first communication device may predefine the use of the first calculation method. In this way, the first communication device does not need to determine the use of the first calculation method based on the format of the density distribution information, which helps reduce the number of determination steps required by the first communication device.

[0107] Exemplarily, the density information also includes a perception range. The first communication device inputs the density distribution information and the perception range into a first calculation method to obtain the coordinates of N second scattering points in the perception space. In this way, the coordinates of the second scattering points in the perception space are determined using the perception range and density distribution information, helping to improve perception accuracy. Furthermore, the second communication device can include the perception range in each density information it sends to the first communication device. That is, based on each perception range, the second communication device can determine the coordinates of the second scattering points in the perception space corresponding to the perception range. Different density information can include different perception ranges, meaning that the first communication device can determine the coordinates of the second scattering points in different perception spaces, helping to improve perception flexibility.

[0108] In a second possible implementation, the density information includes not only density distribution information but also a type indication. The first communication device may first obtain the type indication from the density information and, based on the type indication, select a calculation method corresponding to the type indication from multiple calculation methods, i.e., select a calculation method for determining the coordinates of the N second scattering points in the perception space.

[0109] In one example, the type indication corresponds to the calculation method. If the type indication is a first type indication, the first communications device determines to use a first calculation method based on the first type indication; if the type indication is a second type indication, the first communications device determines to use a second calculation method based on the second type indication; and if the type indication is a third type indication, the first communications device determines to use a third calculation method based on the third type indication.

[0110] In another example, a type indication is used to indicate the format of the density distribution information and / or the method for determining the perception range, and the format of the density distribution information and / or the method for determining the perception range have a corresponding relationship with the calculation method. The type indication is a first type indication, and the first communication device determines, based on the first type indication, the number of first scattering points respectively included in the multiple perception subspaces in the density distribution information, and thereby determines to use the first calculation method; the type indication is a second type indication, and the first communication device determines, based on the second type indication, that the coordinates of the M first scattering points included in the density distribution information and the perception range are determined based on the position of the transmitter of the perception signal, and thereby determines to use the second calculation method; the type indication is a third type indication, and the first communication device determines, based on the third type indication, that the coordinates of the M first scattering points included in the density distribution information and the perception range are determined based on the transmission angle of the perception signal, and thereby determines to use the third calculation method, etc.

[0111] Exemplarily, the density information also includes a sensing range. The first communication device inputs the density distribution information and the sensing range into a calculation method corresponding to the type indication to obtain the coordinates of N second scattering points in the sensing space. The effect of including the sensing range in the density information can be found in the description of the first possible implementation.

[0112] In the above technical solution, different type indicators are used to indicate different calculation methods for determining the coordinates of the N second scattering points. The first communication device can determine the calculation method corresponding to the type indicator based on the type indicator, which helps improve perception accuracy. The first communication device can also support the use of multiple calculation methods to determine the coordinates of the N second scattering points, thereby improving perception flexibility.

[0113] In one specific implementation, the density distribution information indicates the distribution of the first scattering points, that is, indicating that the scattering points are densely distributed in a portion of the perception space, while the scattering points are sparsely distributed in other portions of the perception space. The first communication device may calculate the coordinates of multiple sets of N scattering points in the perception space, determine which set of coordinates among the multiple sets of coordinates is located in the portion of the space with the denser distribution of scattering points, and use this set of coordinates as the coordinates of the N second scattering points that are ultimately determined.

[0114] In the example shown in Figure 6 , the density distribution information (i.e., the density matrix) includes 24 elements (3×4×2). The second communication device divides the perception space into 24 grids (3×4×2). Furthermore, the value of the element corresponding to position (1,1,1) in the density matrix is ​​300, indicating that there are 300 first scattering points in the corresponding grid. The value of the element corresponding to position (2,1,1) in the density matrix is ​​310, indicating that there are 310 first scattering points in the corresponding grid. The value of the element corresponding to position (3,1,1) in the density matrix is ​​310, indicating that there are 310 first scattering points in the corresponding grid. The value of the element corresponding to position (2,2,1) in the density matrix is ​​0, indicating that there are no first scattering points in the corresponding grid, and so on. The total number of first scattering points contained in these 24 grids is M, for example, M = 3000. Furthermore, the first communication device can calculate the coordinates of two groups of N scattering points in the perception space, for example, N=2, the coordinates of the N scattering points in the first group are recorded as (x1, y1, z1) and (x2, y2, z2), and the coordinates of the N scattering points in the second group are recorded as (x3, y3, z3) and (x4, y4, z4), respectively. The first communication device determines that (x1, y1, z1) is located in the grid corresponding to (1, 1, 1) in the density matrix, (x2, y2, z2) is located in the grid corresponding to (2, 1, 1) in the density matrix, and determines that (x3, y3, z3) is located in the grid corresponding to (1, 1, 1) in the density matrix, and (x4, y4, z4) is located in the grid corresponding to (2, 2, 1) in the density matrix. Then, the first communications device may determine that (x1, y1, z1) and (x2, y2, z2) are more accurate, that is, determine that (x1, y1, z1) and (x2, y2, z2) are the coordinates of the N second scattering points.

[0115] In step 503 , the first communication device sends the coordinates of the N second scattering points in the sensing space to the second communication device. Correspondingly, the second communication device receives the coordinates of the N second scattering points in the sensing space from the first communication device.

[0116] Optionally, the first communication device also sends one or more of the following contents to the second communication device: the identifiers of the N second scattering points, the confidence levels of the coordinates of the N second scattering points, the moving speeds of the N second scattering points, the transmission angle of the perception signal, the receiving angle of the perception signal, the receiving power of the perception signal, the perception pattern of the N scatterings in dual-base perception, and the confidence levels corresponding to the perception pattern of the N scatterings in dual-base perception.

[0117] Optionally, after receiving the coordinates of N second scattering points in the perception space, the second communication device can use the coordinates of the N second scattering points in the perception space as known scattering point coordinates for subsequent perception, which helps to further improve perception accuracy.

[0118] In the communication method shown in FIG5 , a second communication device transmits density information to a first communication device (i.e., indicating the distribution of M first scattering points in a sensing space to the first communication device). The first communication device then determines the coordinates of N second scattering points in the sensing space based on the density information and transmits the coordinates of the N second scattering points in the sensing space to the second communication device. The density information improves the accuracy of the first communication device's determination of the coordinates of the N second scattering points in the sensing space, thereby improving the perception accuracy of multiple scattering in bistatic sensing.

[0119] Combined with the architectural diagram of the communication perception integration system shown in Figure 3 and the flowchart of a communication method shown in Figure 5, Figure 9 is a flowchart of the communication method in the first specific scenario provided by this application.

[0120] In Figure 9, the second communication device is specifically an SMF, the first communication device is specifically a base station, the SMF and the base station are deployed separately, the transmitter of the perception signal is the base station, the receiver of the perception signal is the UE, and the perception space is specifically the first perception space.

[0121] In step 901, the SMF sends density information of the first perception space to the base station. In response, the base station receives the density information of the first perception space from the SMF. The density information of the first perception space indicates the distribution of M first scattering points in the first perception space. For details about the density information of the first perception space, refer to step 501. "Perception space" can be replaced with "first perception space."

[0122] Optionally, before step 901, the method further includes: in step 900, the SMF obtains density information of the second perceptual space, and determines density information of the first perceptual space based on the density information of the second perceptual space. The first perceptual space and the second perceptual space have an intersection, and illustratively, the first perceptual space is a subset of the second perceptual space. Exemplarily, the SMF may use the density information of the perceptual space corresponding to the intersection of the first and second perceptual spaces as the density information of the first perceptual space.

[0123] When the SMF obtains the density information of the second perception space, there are two specific examples:

[0124] Example 1: One or more base stations are connected to the SMF. The SMF instructs each base station to determine the coordinates of the scattering points in the perception space corresponding to the base station based on the perception mode of single-base perception, or the perception mode of single scattering in dual-base perception. Then, the SMF obtains the coordinates of the scattering points in the perception space corresponding to the one or more base stations, and generates the coordinates of multiple known scattering points in the second perception space.

[0125] In the second example, SMF obtains density information of the second perception space from other management devices. For example, if the second perception space is a city street, SMF can obtain the boundaries of multiple scatterers (such as buildings, urban facilities, etc.) in the city street from the management device of the city street layout, and then obtain the density information of the city street. For another example, if the second perception space is an office, SMF can obtain the boundaries of multiple scatterers (such as tables and chairs, water dispensers, printers, etc.) in the office from the management device of the office layout, and then obtain the density information of the office.

[0126] Step 902: The base station determines the coordinates of N second scattering points in the first sensing space according to the density information of the first sensing space.

[0127] Step 902 can be implemented in the following two ways:

[0128] Implementation method 1:

[0129] In step 902a, the base station sends a perception signal to the UE, and correspondingly, the UE receives the perception signal from the base station.

[0130] Step 902b: The UE determines, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the first perception space.

[0131] The perception signal is received by the UE after being scattered N times in the first perception space. That is, the transmission path of the perception signal in the first perception space includes N second scattering points. For details, please refer to the description in the relevant embodiment of Figure 8.

[0132] Optionally, the perception signal carries a transmission angle and a transmission time of the perception signal. The UE determines the transmission parameters according to the reception time and reception angle of the perception signal, and the transmission angle and the transmission time of the perception signal obtained from the perception signal.

[0133] Step 902c: The UE sends transmission parameters to the base station. Correspondingly, the base station receives the transmission parameters from the UE.

[0134] Step 902d: The base station determines the coordinates of N second scattering points in the first sensing space according to the transmission parameters and the density information of the first sensing space.

[0135] In one possible implementation, the density information of the first perception space includes density distribution information, which specifically includes the number of first scattering points included in each of the multiple perception subspaces. Exemplarily, the density information of the first perception space also includes a perception range. The base station inputs the transmission parameters, density distribution information, and perception range into a first calculation method to obtain the coordinates of N second scattering points in the first perception space.

[0136] In another possible implementation, the density information of the first perception space includes not only density distribution information but also a type indication. The base station may first obtain the type indication from the density information of the first perception space and, based on the type indication, select a calculation method corresponding to the type indication from multiple calculation methods. Exemplarily, the density information of the first perception space also includes a perception range. The base station inputs the transmission parameters, density distribution information, and perception range into the calculation method corresponding to the type indication to obtain the coordinates of the N second scattering points in the first perception space.

[0137] For any content not described in detail in step 902d, please refer to the description in step 502. The "first communication device" in step 502 can be replaced by "base station", and the "perception space" can be replaced by "first perception space".

[0138] It should be added that, in the above steps 902a to 902d, there may be one or more UEs.

[0139] For example, the one or more UEs are within the coverage of a base station. The base station may broadcast a sensing signal, and accordingly, the one or more UEs within the coverage of the base station may receive the sensing signal from the base station. Each UE may determine, based on the received sensing signal, transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space and send the transmission parameters to the base station. The base station may determine the coordinates of N second scattering points in the first sensing space based on the transmission parameters from the one or more UEs and the density information of the first sensing space. That is, in step 902d above, the transmission parameters are the transmission parameters from the one or more UEs.

[0140] For another example, the base station's coverage area includes one or more UEs, and the base station may further select a UE from the one or more UEs based on the sensing range. Alternatively, the SMF records the UE's location and the base station's coverage area. The SMF determines one or more UEs within the base station's coverage area based on the base station's coverage area and the UE's location, and then selects a UE from the one or more UEs based on the sensing range, and sends the identifier of the selected UE to the base station. Furthermore, the base station sends a sensing signal to the selected one or more UEs. The selected one or more UEs may receive the sensing signal from the base station. Each UE determines, based on the received sensing signal, the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space and sends the transmission parameters to the base station. The base station may determine the coordinates of N second scattering points in the first sensing space based on the transmission parameters from the selected one or more UEs and the density information of the first sensing space. That is, in step 902d above, the transmission parameters are the transmission parameters from the selected one or more UEs.

[0141] Because the base station's computing power exceeds that of the UE and the base station can obtain transmission parameters for multiple UEs, Implementation 1, in which the base station determines the coordinates of N scattering points, is suitable for scenarios with large amounts of data, such as sensing urban buildings, and can obtain relatively accurate scattering point coordinates. Density information in the first sensing space is not transmitted to the UE, helping to ensure information security.

[0142] Implementation 2:

[0143] In step 902A, the base station sends a perception signal and density information of the first perception space to the UE. Correspondingly, the UE receives the perception signal and density information of the first perception space from the base station.

[0144] In step 902B, the UE determines, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the first perception space. For a specific implementation of step 902B, see step 902b in implementation 1 above.

[0145] In step 902C, the UE determines the coordinates of N second scattering points in the first perception space according to the transmission parameters and the density information of the first perception space.

[0146] In one possible implementation, the density information of the first perception space includes density distribution information, which specifically includes the number of first scattering points included in each of the multiple perception subspaces. Exemplarily, the density information of the first perception space also includes a perception range. The UE inputs the transmission parameters, density distribution information, and perception range into a first calculation method to obtain the coordinates of N second scattering points in the first perception space. In this method, the base station and the UE may also pre-negotiate the use of the first calculation method, or the UE may determine the use of the first calculation method to determine the coordinates of the N second scattering points in the first perception space based on the format of the density distribution information.

[0147] In another possible implementation, the density information of the first perception space includes not only density distribution information but also a type indication. The UE may first obtain the type indication from the density information of the first perception space and, based on the type indication, select a calculation method corresponding to the type indication from multiple calculation methods. Exemplarily, the density information of the first perception space also includes a perception range. The UE inputs the transmission parameters, density distribution information, and perception range into the calculation method corresponding to the type indication to obtain the coordinates of the N second scattering points in the first perception space.

[0148] For any content not described in detail in step 902C, please refer to the specific implementation in step 502 regarding the first communication device determining the coordinates of N second scattering points in the first perception space based on the density information of the first perception space. At this time, "first communication device" can be replaced by "UE".

[0149] In step 902D, the UE sends the coordinates of the N second scattering points in the first perception space to the base station. Correspondingly, the base station receives the coordinates of the N second scattering points in the first perception space from the UE.

[0150] It should be noted that in steps 902A to 902D above, the base station may broadcast the sensing signal and the density information of the first sensing space. Accordingly, one or more UEs within the coverage of the base station may receive the sensing signal and the density information of the first sensing space from the base station. Alternatively, if the coverage of the base station includes one or more UEs, the base station or SMF may select a UE from the one or more UEs based on the sensing range, and the base station transmits the sensing signal and the density information of the first sensing space to the selected UE. For matters not fully described in this embodiment, please refer to Implementation 1. It will be understood that the difference between Implementation 2 and Implementation 1 is that in Implementation 1, the base station transmits the sensing signal to the UE, and accordingly, the base station determines the coordinates of the N second scattering points; whereas in Implementation 2, the base station transmits the sensing signal and the density information of the first sensing space to the UE, and accordingly, the UE determines the coordinates of the N second scattering points.

[0151] In implementation method 2, each UE can calculate the coordinates of N second scattering points and send the calculated coordinates of the N second scattering points to the base station. In this way, the base station can obtain the coordinates of the N second scattering points calculated by multiple UEs and send the coordinates of the N second scattering points calculated by multiple UEs to the SMF, which helps the SMF to aggregate the coordinates of more second scattering points, achieve the richness of the coordinates of known scattering points, and further improve the perception accuracy.

[0152] In step 903, the base station sends the coordinates of the N second scattering points in the first sensing space to the SMF. Correspondingly, the SMF receives the coordinates of the N second scattering points in the first sensing space from the base station.

[0153] Optionally, the SMF updates the density information of the second perception space based on the coordinates of the N second scattering points in the first perception space. For example, the SMF adds the coordinates of the N second scattering points in the first perception space to the density information of the second perception space.

[0154] For details not described in step 903 , please refer to the description in step 503 .

[0155] It should be noted that in the embodiment of FIG. 9 , the receiving end of the sensing signal may also be another base station. The transmitting end of the sensing signal may be denoted as base station 1, and the receiving end of the sensing signal may be denoted as base station 2. The "base station" in the embodiment of FIG. 9 may be replaced with "base station 1," and the "UE" in the embodiment of FIG. 9 may be replaced with "base station 2." Base station 2 may be base station 1 or the SMF determined based on the sensing range.

[0156] It should also be added that in the relevant embodiment of Figure 9, the processing operations of the base station can be performed by the CU, and the transceiver operations of the base station can be performed by the DU or RU; or, the processing operations of the base station can be performed by the CU-CP, and the transceiver operations of the base station can be performed by the DU or RU.

[0157] In the above implementation 1:

[0158] For example, the CU may generate a perception signal, and the CU may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, and the RU may send it to the UE. Similarly, the DU may receive density information of the first perception space from the SMF and transmission parameters from the UE, and send the density information and transmission parameters of the first perception space to the CU. The CU determines the coordinates of the N second scattering points in the first perception space based on the density information and transmission parameters of the first perception space. Alternatively, the RU receives the density information of the first perception space from the SMF and the transmission parameters from the UE, and sends the density information and transmission parameters of the first perception space to the DU.

[0159] For another example, the CU-CP may generate a perception signal, and the CU-CP may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, and the RU may send it to the UE. Similarly, the DU may receive density information of the first perception space from the SMF and transmission parameters from the UE, and send the density information and transmission parameters of the first perception space to the CU-CP. The CU-CP determines the coordinates of the N second scattering points in the first perception space. Alternatively, the RU may receive density information of the first perception space from the SMF and transmission parameters from the UE, and send the density information and transmission parameters of the first perception space to the DU.

[0160] In the above implementation 2:

[0161] For example, the CU may generate a perception signal and send it to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the CU. Alternatively, the RU may receive the coordinates of the N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the DU.

[0162] For another example, the CU-CP may generate a perception signal, and the CU-CP may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the CU-CP. Alternatively, the RU may receive the coordinates of the N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the DU.

[0163] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0164] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0165] Combined with the architectural diagram of the communication perception integration system shown in Figure 3 and the flowchart of a communication method shown in Figure 5, Figure 10 is a flowchart of the communication method in the second specific scenario provided by this application.

[0166] In Figure 10, the second communication device is specifically a base station, the SMF and the base station are deployed separately, the first communication device is specifically a UE, the transmitter of the perception signal is the base station, the receiver of the perception signal is the UE, and the perception space is specifically the first perception space.

[0167] Step 1001: A base station sends density information and a perception signal of a first perception space to a UE. Correspondingly, the UE receives the density information and the perception signal of the first perception space from the base station.

[0168] Among them, the density information of the first perception space is used to indicate the distribution of M first scattering points in the first perception space. The content contained in the density information of the first perception space can be referred to the description in step 501, and "perception space" can be replaced by "first perception space".

[0169] Optionally, before step 1001, the method further includes: step 1000: the SMF sends density information of the first sensing space to the base station. Correspondingly, the base station receives the density information of the first sensing space from the SMF.

[0170] In one possible approach, before the SMF sends the density information of the first perception space to the base station, it first obtains the density information of the second perception space. The SMF determines the density information of the first perception space based on the density information of the second perception space. The manner in which the SMF obtains the density information of the second perception space can be found in the description of step 900.

[0171] In one possible way, the density information of the first perception space is also used to instruct the base station to perform perception detection on the first perception space; or, the SMF can also send a perception indication to the base station, and the perception indication is used to instruct the base station to perform perception detection on the first perception space, that is, the SMF sends the perception indication and the density information of the first perception space to the base station.

[0172] In step 1002, the UE determines, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the first perception space. The specific implementation of step 1002 may refer to step 902b in the above implementation 1.

[0173] In step 1003, the UE determines the coordinates of N second scattering points in the first perception space based on the transmission parameters and the density information of the first perception space. For details of this step, please refer to the description in step 902C.

[0174] Step 1004: The UE sends the coordinates of the N second scattering points in the first perception space to the base station. Correspondingly, the base station receives the coordinates of the N second scattering points in the first perception space from the UE.

[0175] For details not described in step 1004 , please refer to the description in step 503 .

[0176] Optionally, the method further includes: Step 1005: the base station sends the coordinates of the N second scattering points in the first sensing space to the SMF. Correspondingly, the SMF receives the coordinates of the N second scattering points in the first sensing space from the base station.

[0177] Optionally, the SMF updates the density information of the second perception space based on the coordinates of the N second scattering points in the first perception space. For example, the SMF adds the coordinates of the N second scattering points in the first perception space to the density information of the second perception space.

[0178] In the above steps 1001 to 1004, there may be one or more UEs. For example, the one or more UEs are one or more UEs located within the coverage range of the base station, or the one or more UEs are determined by the SMF or the base station based on the coverage range and perception range of the base station. For details, please refer to the description of the relevant embodiment in Figure 9.

[0179] It should be noted that in the embodiment of FIG10 , the receiving end of the sensing signal may also be another base station. The transmitting end of the sensing signal may be denoted as base station 1, and the receiving end of the sensing signal may be denoted as base station 2. The "base station" in the embodiment of FIG10 may be replaced with "base station 1," and the "UE" in the embodiment of FIG8 may be replaced with "base station 2." Base station 2 may be base station 1 or the SMF determined based on the sensing range.

[0180] It should also be added that in the relevant embodiment of Figure 10, the processing operations of the base station can be performed by the CU, and the transceiver operations of the base station can be performed by the DU or RU; or, the processing operations of the base station can be performed by the CU-CP, and the transceiver operations of the base station can be performed by the DU or RU.

[0181] For example, the CU may generate a perception signal and send it to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the CU. Alternatively, the RU may receive the coordinates of the N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the DU.

[0182] For another example, the CU-CP may generate a perception signal, and the CU-CP may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the CU-CP. Alternatively, the RU may receive the coordinates of the N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the DU.

[0183] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0184] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0185] Combined with the architectural diagram of the communication perception integration system shown in Figure 3 and the flowchart of a communication method shown in Figure 5, Figure 11 is a flowchart of the communication method in the third specific scenario provided as an example in this application.

[0186] In Figure 11, the second communication device is specifically a base station, the SMF and the base station are deployed together (that is, the base station includes the SMF, and the base station is used as an example below), the first communication device is specifically a UE, and the transmitter of the perception signal is the base station, the receiver of the perception signal is the UE, the perception space is specifically the first perception space, and the coordinates of the N second scattering points are calculated by the UE.

[0187] Step 1101: The base station sends density information and a perception signal of a first perception space to a UE. Correspondingly, the UE receives the density information and the perception signal of the first perception space from the base station.

[0188] Among them, the density information of the first perception space is used to indicate the distribution of M first scattering points in the first perception space. The content contained in the density information of the first perception space can be referred to the description in step 501, and "perception space" can be replaced by "first perception space".

[0189] Optionally, before step 1101, the method further includes: in step 1100, the base station obtains density information of the second perception space, and determines density information of the first perception space based on the density information of the second perception space. The manner in which the base station obtains the density information of the second perception space can be found in the description of step 900, except that "SMF" in step 900 can be replaced with "base station."

[0190] In step 1102, the UE determines, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the first perception space. For a specific implementation of step 1102, see step 902b in the above implementation 1.

[0191] In step 1103, the UE determines the coordinates of N second scattering points in the first perception space based on the transmission parameters and the density information of the first perception space. For details of this step, please refer to the description of step 902C in the above implementation method 2.

[0192] In step 1104, the UE sends the coordinates of the N second scattering points in the first perception space to the base station. In response, the base station receives the coordinates of the N second scattering points in the first perception space from the UE. For details not described in detail in step 1104, refer to the description in step 503.

[0193] In steps 1101 to 1104, there may be one or more UEs. For example, the one or more UEs are located within the coverage of the base station, or the one or more UEs are determined by the SMF or the base station based on the coverage and perception range of the base station. For details, please refer to the description of the relevant embodiment in FIG9.

[0194] It should be noted that in the embodiment of FIG11 , the receiving end of the sensing signal may also be another base station. The transmitting end of the sensing signal may be denoted as base station 1, and the receiving end of the sensing signal may be denoted as base station 2. The "base station" in the embodiment of FIG11 may be replaced with "base station 1," and the "UE" in the embodiment of FIG11 may be replaced with "base station 2." Base station 2 may be base station 1 or the SMF determined based on the sensing range.

[0195] It should also be added that in the relevant embodiment of Figure 11, the processing operations of the base station can be performed by the CU, and the transceiver operations of the base station can be performed by the DU or RU; or, the processing operations of the base station can be performed by the CU-CP, and the transceiver operations of the base station can be performed by the DU or RU.

[0196] For example, the CU may generate a perception signal and obtain density information of the second perception space, and the CU may send the perception signal and the density information of the second perception space to the DU. The DU may send the perception signal and the density information of the second perception space to the UE, or the DU may send the perception signal and the density information of the second perception space to the RU, which then sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the CU. Alternatively, the RU may receive the coordinates of N second scattering points in the first perception space from the UE and send the coordinates of the N second scattering points in the first perception space to the DU.

[0197] For another example, the CU-CP may generate a perception signal and obtain density information of the second perception space, and the CU-CP may send the perception signal and the density information of the second perception space to the DU. The DU may send the perception signal and the density information of the second perception space to the UE, or the DU may send the perception signal and the density information of the second perception space to the RU, which in turn sends the perception signal to the RU. Similarly, the DU may receive the coordinates of N second scattering points in the first perception space from the UE, and send the coordinates of the N second scattering points in the first perception space to the CU-CP. Alternatively, the RU may receive the coordinates of N second scattering points in the first perception space from the UE, and send the coordinates of the N second scattering points in the first perception space to the DU.

[0198] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0199] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0200] Combined with the architectural diagram of the communication perception integration system shown in Figure 3 and the flowchart of a communication method shown in Figure 5, Figure 12 is a flowchart of the communication method in the fourth specific scenario provided by this application.

[0201] In Figure 12, the second communication device is specifically a base station, the SMF and the base station are deployed together (that is, the base station includes the SMF, and the base station is used as an example below), the first communication device is specifically a UE, the transmitter of the perception signal is the base station, the receiver of the perception signal is the UE, the perception space is specifically the first perception space, and the coordinates of the N second scattering points are calculated by the base station.

[0202] Step 1201: The base station sends a perception signal to the UE. Correspondingly, the UE receives the perception signal from the base station.

[0203] In step 1202, the UE determines, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the first perception space. The specific implementation of step 1102 may refer to step 902b in the above implementation 1.

[0204] Step 1203: The UE sends transmission parameters to the base station. Correspondingly, the base station receives the transmission parameters from the UE.

[0205] In step 1204, the base station determines the coordinates of N second scattering points in the first sensing space based on the transmission parameters and the density information of the first sensing space. For specific implementation, please refer to the description of step 902d in the above implementation mode 1.

[0206] Among them, the density information of the first perception space is used to indicate the distribution of M first scattering points in the first perception space. The content contained in the density information of the first perception space can be referred to the description in step 501, and "perception space" can be replaced by "first perception space".

[0207] Optionally, before step 1204, the following further includes: in step 1200, the base station obtains density information of the second perception space, and the base station determines density information of the first perception space based on the density information of the second perception space. The manner in which the base station obtains the density information of the second perception space can be found in the description of step 900, except that "SMF" in step 900 can be replaced with "base station."

[0208] It should be noted that in the embodiment of FIG12 , the receiving end of the sensing signal can also be another base station. The transmitting end of the sensing signal can be denoted as base station 1, and the receiving end of the sensing signal can be denoted as base station 2. The "base station" in the embodiment of FIG11 can be replaced with "base station 1," and the "UE" in the embodiment of FIG12 can be replaced with "base station 2." Base station 2 can be base station 1 or the SMF determined based on the sensing range.

[0209] It should also be added that in the relevant embodiment of Figure 12, the processing operations of the base station can be performed by the CU, and the transceiver operations of the base station can be performed by the DU or RU; or, the processing operations of the base station can be performed by the CU-CP, and the transceiver operations of the base station can be performed by the DU or RU.

[0210] For example, the CU may generate a perception signal and obtain density information of the second perception space. The CU may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive transmission parameters from the UE and send the transmission parameters to the CU. Alternatively, the RU may receive transmission parameters from the UE and send the transmission parameters to the DU. The CU may also determine the coordinates of N second scattering points in the first perception space based on the density information and transmission parameters of the second perception space.

[0211] For another example, the CU-CP may generate a perception signal and obtain density information of the second perception space, and the CU-CP may send the perception signal to the DU. The DU may send the perception signal to the UE, or the DU may send the perception signal to the RU, which then sends it to the UE. Similarly, the DU may receive transmission parameters from the UE and send the transmission parameters to the CU-CP. Alternatively, the RU may receive transmission parameters from the UE and send the UE's transmission parameters to the DU. The CU may also determine the coordinates of N second scattering points in the first perception space based on the density information and transmission parameters of the second perception space.

[0212] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0213] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0214] It is understandable that, in order to implement the functions in the above embodiments, the SMF, base station, and UE include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily appreciate that, in combination with the units and method steps of the various examples described in the embodiments disclosed in this application, this application can be implemented in the form of 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 scenario and design constraints of the technical solution.

[0215] Figures 13 and 14 are schematic diagrams of the structures of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the first communication device or the second communication device in the above-mentioned method embodiments, that is, to implement the functions of the SMF, base station, or UE in the above-mentioned method embodiments, and thus can also achieve the beneficial effects of the above-mentioned method embodiments.

[0216] In the embodiment of the present application, the communication device may be one of the UEs 120a-120j shown in FIG1 , or the base station 110a or 110b shown in FIG1 . Alternatively, the communication device may be any base station shown in FIG4 , or any UE shown in FIG4 , or the SMF shown in FIG4 . Alternatively, the communication device may be a module (such as a chip) applied to an SMF, a UE, or a base station.

[0217] As shown in Figure 13, the communication device 1300 includes a processing module 1310 and a transceiver module 1320. The communication device 1300 is used to implement the functions of the first communication device or the second communication device in the method embodiments related to Figures 5 to 12 above.

[0218] When the communication device 1300 is used to implement the functions of the first communication device in the method embodiments related to FIG. 5 to FIG. 12 :

[0219] The transceiver module 1320 is used to receive density information, which is used to indicate the distribution of M first scattering points in the perception space; the processing module 1310 is used to determine the coordinates of N second scattering points in the perception space based on the density information; the transceiver module 1320 is also used to send the coordinates of the N second scattering points in the perception space; wherein M and N are both integers greater than 1.

[0220] In a possible implementation, the perception space includes multiple perception subspaces, and the density information includes the number of first scattering points respectively included in the multiple perception subspaces.

[0221] In one possible implementation, the density information includes a perception range, and the perception space is determined based on the perception range. The perception range is determined based on one or more of the following: the location of a transmitter of a perception signal, the location of a receiver of the perception signal, the transmission angle of the perception signal, or the reception angle of the perception signal. Exemplarily, the perception range includes the coordinate ranges of the perception space on the x, y, and z axes, respectively, in a world coordinate system.

[0222] In one possible implementation, the density information includes a type indicator, which indicates a calculation method for determining the coordinates of the N second scattering points. Exemplarily, the calculation method includes: determining the coordinates of the N second scattering points based on the number of first scattering points included in multiple perceptual subspaces, where the perceptual space includes multiple perceptual subspaces; and / or determining the coordinates of the N second scattering points based on the coordinates of the M first scattering points.

[0223] In one possible implementation, when determining the coordinates of N second scattering points in the perception space based on density information, the processing module 1310 is specifically configured to: determine the coordinates of the N second scattering points in the perception space based on the density information and the received perception signal. Exemplarily, when determining the coordinates of the N second scattering points in the perception space based on the density information and the received perception signal, the processing module 1310 is specifically configured to: determine, based on the received perception signal, a transmission parameter corresponding to a transmission path of the perception signal in the perception space, where the transmission path includes the N second scattering points; and determine the coordinates of the N second scattering points in the perception space based on the density information and the transmission parameter. The transmission parameter includes at least one or more of the following: a transmission duration of the perception signal, a transmission angle of the perception signal, or a reception angle of the perception signal.

[0224] When the communication device 1300 is used to implement the functions of the second communication device in the method embodiments related to FIG. 5 to FIG. 12 :

[0225] The processing module 1310 is used to determine density information; the transceiver module 1320 is used to send density information, where the density information is used to indicate the distribution of M first scattering points in the perception space; and is used to receive the coordinates of N second scattering points in the perception space, where the coordinates of the N second scattering points in the perception space are determined by the density information, and M and N are both integers greater than 1.

[0226] In a possible implementation, the processing module 1310 is further configured to update the density information according to the coordinates of the N second scattering points.

[0227] In a possible implementation, the perception space includes multiple perception subspaces, and the density information includes the number of first scattering points respectively included in the multiple perception subspaces.

[0228] In one possible implementation, the density information includes a perception range, and the perception space is determined based on the perception range. The perception range is determined based on one or more of the following: the location of a transmitter of a perception signal, the location of a receiver of the perception signal, the transmission angle of the perception signal, or the reception angle of the perception signal. Exemplarily, the perception range includes the coordinate ranges of the perception space on the x, y, and z axes, respectively, in a world coordinate system.

[0229] In a possible implementation manner, the density information includes a type indication, where the type indication is used to indicate a calculation method for determining the coordinates of the N second scattering points.

[0230] For a more detailed description of the processing module 1310 and the transceiver module 1320, reference can be made to the relevant descriptions in the relevant method embodiments of FIG. 5 to FIG. 12 , which will not be repeated here.

[0231] As shown in Figure 14, communication device 1400 includes a processor 1410 and an interface circuit 1420. Processor 1410 and interface circuit 1420 are coupled to each other. It is understood that interface circuit 1420 can be a transceiver or an input / output interface. Optionally, communication device 1400 may also include a memory 1430 for storing instructions executed by processor 1410, input data required by processor 1410 to execute instructions, or data generated after processor 1410 executes instructions.

[0232] When the communication device 1400 is used to implement the method in the method embodiments related to Figures 5 to 12, the processor 1410 is used to implement the functions of the above-mentioned processing module 1310, and the interface circuit 1420 is used to implement the functions of the above-mentioned transceiver module 1320.

[0233] When the above-mentioned communication device is a chip used in a UE, the UE chip implements the functions of the UE in the above-mentioned method embodiment. The UE chip receives information from other modules in the UE (such as a radio frequency module or antenna), and the information is sent by the base station to the UE; or the UE chip sends information to other modules in the UE (such as a radio frequency module or antenna), and the information is sent by the UE to the base station.

[0234] When the above-mentioned communication device is a module applied to a base station, the base station module implements the functions of the base station in the above-mentioned method embodiment. The base station module receives information from other modules in the base station (such as a radio frequency module or antenna), and the information is sent to the base station by the SMF or UE; or the base station module sends information to other modules in the base station (such as a radio frequency module or antenna), and the information is sent to the SMF or UE by the base station. The base station module here can be the baseband chip of the base station, or it can be a DU or other module. The DU here can be the O-DU under the O-RAN architecture.

[0235] When the communication device is a chip used in an SMF, the SMF chip implements the functions of the SMF in the above method embodiments. The SMF chip receives information from other modules in the SMF, which is sent by the base station to the SMF; or the SMF chip sends information to other modules in the SMF, which is sent by the SMF to the base station.

[0236] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0237] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in an SMF, a base station or a UE. Of course, the processor and the storage medium can also be present in an SMF, a base station or a UE as discrete components.

[0238] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, all or part of the processes or functions of the embodiments of the present application are performed. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media, such as floppy disks, hard disks, or magnetic tapes; optical media, such as digital video disks; or semiconductor media, such as solid-state drives. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0239] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0240] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0241] In the text descriptions of this application, the character " / " generally indicates an "or" relationship between the preceding and following entities; in formulas of this application, the character " / " indicates a "division" relationship between the preceding and following entities. "Includes at least one of A, B, and C" can mean: includes A; includes B; includes C; includes A and B; includes A and C; includes B and C; includes A, B, and C.

[0242] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A communication method, characterized in that, Comprising: Receiving density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; Determining the coordinates of N second scattering points in the sensing space according to the density information; Sending the coordinates of N second scattering points in the sensing space; Wherein, both M and N are integers greater than 1.

2. The method according to claim 1, wherein The sensing space includes a plurality of sensing sub-spaces, and the density information includes the number of the first scattering points respectively included in the plurality of sensing sub-spaces.

3. The method according to claim 1 or 2, characterized in that, The density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

4. The method according to any one of claims 1 to 3, characterized in that The density information includes a sensing range, and the sensing range includes: the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively.

5. The method according to claim 1, 3 or 4, characterized in that The density information includes a type indication, and the type indication is used to indicate the calculation method for determining the coordinates of the N second scattering points.

6. The method according to claim 5, characterized in that, The calculation method includes: Determining the coordinates of the N second scattering points according to the number of the first scattering points respectively included in a plurality of sensing sub-spaces, where the sensing space includes the plurality of sensing sub-spaces; and / or, Determining the coordinates of the N second scattering points according to the coordinates of the M first scattering points.

7. The method according to any one of claims 1-6, characterized in that, The determining the coordinates of N second scattering points in the sensing space according to the density information includes: Determining the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal.

8. The method according to claim 7, characterized in that, The determining the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal includes: Determining the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, where the transmission path includes the N second scattering points; Determining the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters; Wherein, the transmission parameters at least include one or more of the following: the transmission duration of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

9. A communication method, characterized in that, Comprising: Sending density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; Receiving the coordinates of N second scattering points in the sensing space, where the coordinates of the N second scattering points in the sensing space are determined by the density information, and both M and N are integers greater than 1.

10. The method according to claim 9, wherein The sensing space includes a plurality of sensing sub-spaces, and the density information includes the number of the first scattering points respectively included in the plurality of sensing sub-spaces.

11. The method according to claim 9 or 10, characterized in that, The density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

12. The method according to any one of claims 9-11, characterized in that, The density information includes a sensing range, and the sensing range includes: the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively.

13. The method according to claim 9, 11 or 12, characterized in that, The density information includes a type indication, and the type indication is used to indicate the calculation method for determining the coordinates of the N second scattering points.

14. A communication device, characterized in that, including: A transceiver module, configured to receive density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; A processing module, configured to determine the coordinates of N second scattering points in the sensing space according to the density information; The transceiver module is further configured to send the coordinates of the N second scattering points in the sensing space; wherein both M and N are integers greater than 1.

15. The device according to claim 14, characterized in that, The sensing space includes a plurality of sensing sub-spaces, and the density information includes the number of the first scattering points respectively included in the plurality of sensing sub-spaces.

16. The device according to claim 14 or 15, characterized in that The density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

17. The device according to any one of claims 14-16, characterized in that, The density information includes a sensing range, and the sensing range includes: the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively.

18. The device according to claim 14, 16 or 17, characterized in that, The density information includes a type indication, and the type indication is used to indicate the calculation method for the processing module to determine the coordinates of the N second scattering points.

19. The device according to claim 18, characterized in that, The calculation method includes: Determining the coordinates of the N second scattering points according to the number of the first scattering points respectively included in the plurality of sensing sub-spaces, where the sensing space includes the plurality of sensing sub-spaces; and / or, Determining the coordinates of the N second scattering points according to the coordinates of the M first scattering points.

20. The device according to any one of claims 14-19, characterized in that When the processing module determines the coordinates of N second scattering points in the sensing space according to the density information, it is specifically configured to: Determine the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal.

21. The device according to claim 20, characterized in that, When the processing module determines the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal, it is specifically configured to: Determine the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, where the transmission path includes the N second scattering points; Determine the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters; wherein the transmission parameters at least include one or more of the following: the transmission duration of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

22. A communication device, characterized in that, including: A processing module, configured to determine density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; A transceiver module, configured to send the density information; and receive the coordinates of N second scattering points in the sensing space, where the coordinates of the N second scattering points in the sensing space are determined by the density information, and both M and N are integers greater than 1.

23. The device according to claim 22, wherein, The perception space includes a plurality of perception sub-spaces, and the density information includes the number of the first scattering points respectively included in the plurality of perception sub-spaces.

24. The device according to claim 22 or 23, characterized in that, The density information includes a perception range, the perception space is determined based on the perception range, and the perception range is determined based on one or more of the following: the position of the transmitting end of the perception signal, the position of the receiving end of the perception signal, the transmitting angle of the perception signal, or the receiving angle of the perception signal.

25. The device according to any one of claims 22-24, characterized in that, The density information includes a perception range, and the perception range includes: the coordinate ranges of the x, y, and z axes of the perception space in the world coordinate system respectively.

26. The device according to claim 22, 24 or 25, characterized in that, The density information includes a type indication, and the type indication is used to indicate the calculation method for determining the coordinates of the N second scattering points.

27. A communication device, characterized in that, It includes a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor, or send signals from the processor to other communication devices outside the communication device. The processor is used to implement the method according to any one of claims 1 to 8 through logic circuits or by executing code instructions, or the processor is used to implement the method according to any one of claims 9 to 13 through logic circuits or by executing code instructions.

28. A computer-readable storage medium, characterized in that, A computer program or instruction is stored in the storage medium. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 13 is implemented.

29. A computer program product, characterized in that, The computer program product includes a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 13 is implemented.

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