Communication methods, devices, communication system and storage medium

Abstract

Provided in the embodiments of the present disclosure are communication methods, first devices, second devices, third devices, a communication system and a storage medium. A communication method comprises: sending first information to a second device, wherein the first information comprises a first result obtained by executing sensing and / or raw data information obtained by executing sensing. Thus, data processing is realized.

Description

Communication method, device, communication system and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to a communication method, a first device, a second device, a third device, a communication system, and a storage medium. Background Art

[0002] In the field of communication technology, the technology of Integrated Sensing and Communication (ISAC) has been introduced. In some cases, it is necessary to process data based on different sources.

[0003] Summary of the Invention

[0004] After the ISAC scenario is introduced, data processing needs to be considered.

[0005] An embodiment of the present disclosure provides a communication method, which is performed by a first device and includes:

[0006] sending the first information to the second device;

[0007] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0008] According to a second aspect of an embodiment of the present disclosure, a communication method is provided, where the method is performed by a second device, and the method includes:

[0009] Obtaining first information;

[0010] The first information includes a first result obtained by performing perception and / or measurement information used for perception measurement.

[0011] According to a third aspect of an embodiment of the present disclosure, a communication method is provided, where the method is performed by a third device and includes:

[0012] Obtaining first information;

[0013] storing the first information;

[0014] The first information includes a first result obtained by performing perception and / or measurement information used for perception.

[0015] According to a fourth aspect of an embodiment of the present disclosure, a communication method is provided, the method comprising:

[0016] The first device sends first information to the second device;

[0017] The first information includes a first result obtained by performing perception and / or measurement information used for perception.

[0018] According to a fifth aspect of an embodiment of the present disclosure, a first device is provided, the first device including:

[0019] The processing module is configured to:

[0020] sending the first information to the second device;

[0021] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0022] According to a sixth aspect of an embodiment of the present disclosure, a second device is provided, the second device including:

[0023] The transceiver module is configured as follows:

[0024] Obtaining first information;

[0025] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0026] According to a seventh aspect of an embodiment of the present disclosure, a third device is provided, the third device including:

[0027] The transceiver module is configured as follows:

[0028] Obtaining first information;

[0029] storing the first information;

[0030] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0031] According to the eighth aspect of an embodiment of the present disclosure, a communication system is provided, wherein the communication system includes a first device, a second device and a third device; the first device is configured to implement the method described in the first aspect, the second device is configured to implement the method described in the second aspect, and the third device is configured to implement the method described in the third aspect.

[0032] According to a ninth aspect of an embodiment of the present disclosure, a first device is provided, the first device including:

[0033] one or more processors;

[0034] The first device is used to execute the method described in the first aspect.

[0035] According to a tenth aspect of an embodiment of the present disclosure, a second device is provided, the second device including:

[0036] one or more processors;

[0037] The second device is used to execute the method described in the second aspect.

[0038] According to an eleventh aspect of the embodiments of the present disclosure, a third device is provided, the third device including:

[0039] one or more processors;

[0040] According to the twelfth aspect of the present disclosure, a storage medium is provided, wherein the storage medium stores instructions, which, when executed on a communication device, cause the communication device to perform the method provided in the first aspect, the second aspect, and / or the third aspect.

[0041] The technical solution provided by the embodiments of the present disclosure can be adapted to data processing in ISAC scenarios.

[0042] It should be understood that the foregoing general description and the following detailed description are merely exemplary and explanatory and are not restrictive of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following drawings required for describing the embodiments are introduced. The following drawings are merely some embodiments of the present disclosure and do not impose specific limitations on the protection scope of the present disclosure.

[0044] FIG1a is a schematic diagram showing a communication system architecture according to an exemplary embodiment;

[0045] FIG1b is a schematic diagram showing a communication system architecture according to an exemplary embodiment;

[0046] FIG2a is a schematic flow chart showing a communication method according to an exemplary embodiment;

[0047] FIG3a is a flow chart showing a communication method according to an exemplary embodiment;

[0048] FIG4a is a flow chart showing a communication method according to an exemplary embodiment;

[0049] FIG5a is a flow chart showing a communication method according to an exemplary embodiment;

[0050] FIG6a is a flow chart showing a communication method according to an exemplary embodiment;

[0051] FIG7 a is a schematic diagram showing sensing data processing according to an exemplary embodiment;

[0052] FIG7 b is a schematic diagram showing the distribution of sensing functions in an ISAC system structure according to an exemplary embodiment;

[0053] FIG7c is a flow chart showing a communication method according to an exemplary embodiment;

[0054] FIG7 d is a schematic flow chart showing a communication method according to an exemplary embodiment;

[0055] FIG8a is a schematic structural diagram of a first device according to an exemplary embodiment;

[0056] FIG8b is a schematic structural diagram of a second device according to an exemplary embodiment;

[0057] FIG8c is a schematic structural diagram of a third device according to an exemplary embodiment;

[0058] FIG9a is a schematic structural diagram of a UE according to an exemplary embodiment;

[0059] Fig. 9b is a schematic structural diagram of a communication device according to an exemplary embodiment. DETAILED DESCRIPTION

[0060] Embodiments of the present disclosure provide a communication method, a first device, a second device, a third device, a communication system, and a storage medium.

[0061] In a first aspect, an embodiment of the present disclosure provides a communication method, which is performed by a first device and includes:

[0062] sending the first information to the second device;

[0063] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0064] In the above embodiment, since the first information includes the first result obtained by performing perception and / or measurement information used for perception, data processing can be performed based on the obtained first result and / or original data information.

[0065] In combination with some embodiments of the first aspect, in some embodiments, the first information sent by at least two first devices to the second device contains the same information type and / or has the same data format.

[0066] In the above embodiment, since the first information sent by at least two first devices to the second device contains the same information type and / or has the same data format, data fusion from at least two first devices can be performed.

[0067] In conjunction with some embodiments of the first aspect, in some embodiments, the first result includes at least one of the following:

[0068] Perceived result information;

[0069] Auxiliary information for performing perception.

[0070] In conjunction with some embodiments of the first aspect, in some embodiments, the perception result information includes at least one of the following:

[0071] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0072] The perception result of the environment is used to indicate the perception result associated with the environment.

[0073] In conjunction with some embodiments of the first aspect, in some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0074] the coordinates of perceived objects;

[0075] Perceive the distance of an object;

[0076] the angle from which an object is perceived;

[0077] the speed of the perceived object;

[0078] The origin of the coordinate system used to perceive the object;

[0079] The type of coordinate system used to perceive the object;

[0080] events associated with the perceived object;

[0081] the intensity of the perceived object;

[0082] The amount of signal attenuation of the perceived object;

[0083] Perceive the reflectivity of an object.

[0084] In conjunction with some embodiments of the first aspect, in some embodiments, the auxiliary information includes at least one of the following:

[0085] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0086] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0087] In conjunction with some embodiments of the first aspect, in some embodiments, the perception accuracy information is used to indicate at least one of the following:

[0088] Maximum detection range;

[0089] Maximum detection distance;

[0090] the granularity of the detection range;

[0091] The granularity of the detection range;

[0092] Maximum angular range of detection;

[0093] Angular granularity of detection;

[0094] Maximum detection speed;

[0095] The granularity of the detection velocity.

[0096] In conjunction with some embodiments of the first aspect, in some embodiments, the perceived resolution information includes at least one of the following:

[0097] The minimum distance between two objects;

[0098] The minimum range to distinguish between two objects;

[0099] The minimum distance that distinguishes two points;

[0100] The minimum range to distinguish two points;

[0101] the relative distance between the perceived object and the transceiver used to perform the perception;

[0102] the relative angle between the object being sensed and the transceiver used to perform the sensing;

[0103] Object identification.

[0104] In combination with some embodiments of the first aspect, in some embodiments, the original data information includes information for indicating the transmission characteristics of the perceptual signaling; wherein the transmission characteristics include at least one of the following: the transmission characteristics of the perceptual signaling in the spatial domain; the transmission characteristics of the perceptual signaling in the time domain; and the transmission characteristics of the perceptual signaling in the frequency domain.

[0105] In a second aspect, an embodiment of the present disclosure provides a communication method, which is performed by a second device and includes:

[0106] Obtaining first information;

[0107] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0108] In conjunction with some embodiments of the second aspect, in some embodiments,

[0109] The first information obtained by the second device from at least two devices contains the same information type and / or has the same data format.

[0110] In some embodiments, obtaining the first information includes:

[0111] receiving the first information sent by the first device;

[0112] The first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

[0113] In some embodiments, the method further comprises:

[0114] performing a first operation on the first information;

[0115] The first operation includes at least one of the following:

[0116] Coordinate transformation;

[0117] Time conversion;

[0118] Speed ​​conversion;

[0119] reflectivity conversion;

[0120] Intensity conversion.

[0121] In some embodiments, the method further comprises at least one of the following:

[0122] Sending the first information to a third device; wherein the third device is used to store the first information;

[0123] The first information is sent to a fourth device; wherein the fourth device is a consumer end.

[0124] In some embodiments, the first result includes at least one of the following:

[0125] Perceived result information;

[0126] Auxiliary information for performing perception.

[0127] In some embodiments, the perception result information includes at least one of the following:

[0128] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0129] The perception result of the environment is used to indicate the perception result associated with the environment.

[0130] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0131] the coordinates of perceived objects;

[0132] Perceive the distance of an object;

[0133] the angle from which an object is perceived;

[0134] the speed of the perceived object;

[0135] The origin of the coordinate system used to perceive the object;

[0136] The type of coordinate system used to perceive the object;

[0137] Events associated with the object;

[0138] the intensity of the perceived object;

[0139] The amount of signal attenuation of the perceived object;

[0140] Perceive the reflectivity of an object.

[0141] In some embodiments, the auxiliary information includes at least one of the following:

[0142] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0143] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0144] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0145] Maximum detection range;

[0146] Maximum detection distance;

[0147] the granularity of the detection range;

[0148] The granularity of the detection range;

[0149] Maximum angular range of detection;

[0150] Angular granularity of detection;

[0151] Maximum detection speed;

[0152] The granularity of the detection velocity.

[0153] In some embodiments, the perceived resolution information includes at least one of the following:

[0154] The minimum distance between two objects;

[0155] The minimum range to distinguish between two objects;

[0156] The minimum distance that distinguishes two points;

[0157] The minimum range to distinguish two points;

[0158] the relative distance between the perceived object and the transceiver used to perform the perception;

[0159] The relative angle between the sensing object and the transceiver used to perform the sensing.

[0160] In some embodiments, the original data information includes information for indicating transmission characteristics of perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of perceptual signaling in the spatial domain; transmission characteristics of perceptual signaling in the time domain; and transmission characteristics of perceptual signaling in the frequency domain.

[0161] In a third aspect, an embodiment of the present disclosure provides a communication method, which is performed by a third device and includes:

[0162] Obtaining first information;

[0163] storing the first information;

[0164] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0165] In combination with some embodiments of the third aspect, in some embodiments, the first information obtained by the third device from at least two devices contains the same information type and / or has the same data format.

[0166] In some embodiments, the method further comprises:

[0167] Receive the first information sent by the second device.

[0168] In some embodiments, obtaining the first information includes:

[0169] storing the first information based on predetermined information;

[0170] The predetermined information includes at least one of the following:

[0171] Perception result accuracy;

[0172] Perception area;

[0173] Coordinate system;

[0174] The coordinate system type.

[0175] In some embodiments, the method further comprises:

[0176] The perception results are distributed.

[0177] In some embodiments, the method further comprises:

[0178] The perception result is published.

[0179] In some embodiments, the method further comprises at least one of the following:

[0180] creating the perception result;

[0181] modifying the perception result;

[0182] Deleting the perception result;

[0183] Query the perception result.

[0184] In some embodiments, the first result includes at least one of the following:

[0185] Perceived result information;

[0186] Auxiliary information for performing perception.

[0187] In some embodiments, the perception result information includes at least one of the following:

[0188] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0189] The perception result of the environment is used to indicate the perception result associated with the environment.

[0190] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0191] the coordinates of perceived objects;

[0192] Perceive the distance of an object;

[0193] the angle from which an object is perceived;

[0194] The origin of the coordinate system used to perceive the object;

[0195] The type of coordinate system used to perceive the object;

[0196] events associated with the perceived object;

[0197] the intensity of the perceived object;

[0198] The amount of signal attenuation of the perceived object;

[0199] Perceive the reflectivity of an object.

[0200] In some embodiments, the auxiliary information includes at least one of the following:

[0201] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0202] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0203] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0204] Maximum detection range;

[0205] Maximum detection distance;

[0206] the granularity of the detection range;

[0207] The granularity of the detection range;

[0208] Maximum angular range of detection;

[0209] Angular granularity of detection;

[0210] Maximum detection speed;

[0211] The granularity of the detection velocity.

[0212] In some embodiments, the perceived resolution information includes at least one of the following:

[0213] The minimum distance between two objects;

[0214] The minimum range to distinguish between two objects;

[0215] The minimum distance that distinguishes two points;

[0216] The minimum range to distinguish two points;

[0217] the relative distance between the perceived object and the transceiver used to perform the perception;

[0218] The relative angle between the sensing object and the transceiver used to perform the sensing.

[0219] In some embodiments, the measurement information includes information for indicating transmission characteristics of the perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of the perceptual signaling in the spatial domain; transmission characteristics of the perceptual signaling in the time domain; and transmission characteristics of the perceptual signaling in the frequency domain.

[0220] In a fourth aspect, an embodiment of the present disclosure provides a communication method, the method comprising:

[0221] The first device sends first information to the second device;

[0222] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0223] In a fifth aspect, an embodiment of the present disclosure provides a first device, the first device including:

[0224] The transceiver module is configured as follows:

[0225] sending the first information to the second device;

[0226] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0227] In a sixth aspect, an embodiment of the present disclosure provides a second device, the second device including:

[0228] The transceiver module is configured as follows:

[0229] Obtaining first information;

[0230] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0231] In a seventh aspect, an embodiment of the present disclosure provides a third device, the third device including:

[0232] The transceiver module is configured as follows:

[0233] Obtaining first information;

[0234] storing the first information;

[0235] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0236] In the eighth aspect, the embodiment of the present disclosure provides that the communication system includes a first device, a second device and a third device; the first device is configured to implement the method described in the first aspect, the second device is configured to implement the method described in the second aspect, and the third device is configured to implement the method described in the third aspect.

[0237] In a ninth aspect, an embodiment of the present disclosure provides a first device, the first device including:

[0238] one or more processors;

[0239] The first device is used to execute the method provided by the first aspect.

[0240] In a tenth aspect, an embodiment of the present disclosure provides a second device, the second device including:

[0241] one or more processors;

[0242] The second device is used to execute the method provided by the second aspect.

[0243] In an eleventh aspect, an embodiment of the present disclosure provides a third device, the third device including:

[0244] one or more processors;

[0245] Among them, the third device is used to execute the method provided by the third aspect.

[0246] In the twelfth aspect, an embodiment of the present disclosure provides a storage medium, wherein the storage medium stores instructions, which, when the instructions are executed on a communication device, enable the communication device to execute the method described in the optional implementation of the first aspect, the second aspect and / or the third aspect.

[0247] In a thirteenth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the optional implementation of the first aspect, the second aspect and / or the third aspect.

[0248] In a fourteenth aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute the method described in the optional implementation of the first aspect, the second aspect and / or the third aspect.

[0249] In a fifteenth aspect, an embodiment of the present disclosure provides a chip or a chip system, wherein the chip or chip system includes a processing circuit configured to execute the method described in the optional implementation of the first aspect, the second aspect, and / or the third aspect.

[0250] It is understandable that the first device, second device, third device, communication system, storage medium, program product, computer program, chip, or chip system described above are all used to perform the methods proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding methods and will not be repeated here.

[0251] The present disclosure provides a communication method, a first device, a second device, a third device, a communication system, and a storage medium. In some embodiments, the terms communication method, information processing method, and information transmission method are interchangeable, and the terms communication system and information processing system are interchangeable.

[0252] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0253] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0254] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0255] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0256] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0257] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0258] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0259] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0260] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0261] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0262] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0263] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0264] In some embodiments, devices and equipment can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0265] In some embodiments, "network" can be interpreted as devices included in the network, such as access network equipment, core network equipment, etc.

[0266] In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station", and in some embodiments may also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission and / or reception point (TRP)" "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc.

[0267] In some embodiments, "terminal" or "terminal device" may be referred to as "user equipment (UE)", "user terminal" "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc.

[0268] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0269] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0270] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0271] FIG1a is a schematic diagram showing the architecture of a communication system according to an embodiment of the present disclosure.

[0272] As shown in FIG. 1 a , a communication system 100 includes a terminal 101 and a network device 102 .

[0273] In some embodiments, the network device 102 may include at least one of an access network device 1021 and a core network device 1022 .

[0274] In some embodiments, the access network device 1021 may be a satellite access network device.

[0275] In some embodiments, the core network device 1022 may be a core network device.

[0276] In some embodiments, the second device and / or the third device in the present disclosure may be a core network device.

[0277] In some embodiments, the first device, the second device and / or the third device in the present disclosure may be an access network device.

[0278] In some embodiments, the terminal includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0279] In some embodiments, the access network device may be, for example, a node or device that accesses a terminal to a wireless network. The access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0280] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can be transformed into internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0281] In some embodiments, the access network device can be composed of a centralized unit (CU) and a distributed unit (DU), where the CU can also be called a control unit. The CU-DU structure can be used to split the protocol layer of the access network device, with the functions of some protocol layers centrally controlled by the CU, and the functions of the remaining part or all of the protocol layers distributed in the DU, which is centrally controlled by the CU, but is not limited to this.

[0282] In some embodiments, a core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0283] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution provided by the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.

[0284] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1a, or a portion thereof, but are not limited thereto. The entities shown in FIG1a are illustrative only. The communication system may include all or a portion of the entities shown in FIG1a, or may include other entities other than those shown in FIG1a. The number and form of the entities may be arbitrary. The connection relationship between the entities is illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0285] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0286] In some cases, the rapid development of wireless communication technology and the growing demand for high-quality data transmission have driven the development of advanced communication systems. One promising technology is the integration of sensing and communication, which has the potential to revolutionize various industries, including automotive, healthcare, and smart cities.

[0287] In some embodiments, sensing is the use of radio frequency signals to obtain information about characteristics of the environment and / or objects in the environment (e.g., shape, size, direction, speed, position, distance or relative motion between objects, etc.).

[0288] In some embodiments, Integrated Sensing and Communication (ISAC) involves the simultaneous use of radio frequency (RF) signals for both sensing and communication. This integration can improve spectrum efficiency, reduce latency, and enhance reliability in a variety of applications. ISAC is particularly relevant in the context of mobile operators, user equipment (UE) vendors, automotive suppliers, and users, as it can significantly enhance the overall user experience, improve network efficiency, and enable new business opportunities.

[0289] In some embodiments, the integration of perception and communication enables the evolution of 3GPP networks from communication networks to integrated communication and perception networks. It replicates the physical world through perception, exchanges information through communication, and connects the cyber and physical worlds, providing a key technical foundation for the fusion of the virtual and real worlds and expanding the scope of 3GPP technologies.

[0290] In some embodiments, the functional requirements and performance requirements of integrated perception and communication services with architectural impact are studied. In this study, perception applications, such as intruder detection applications (e.g., roads, railways, drone restricted areas, courtyards, and homes), monitoring applications (e.g., rainfall, tourism, floods, breathing, and movement), navigation assistance applications, real-time map generation applications, collision avoidance applications, etc. can be implemented using different perception methods through the 5G system to meet the required perception accuracy. For commercial, vehicle-to-everything (V2X), public safety, and emergency service use cases, target objects (and their environments) with or without UEs can be supported on licensed or unlicensed spectrum. The study also determined service requirements in terms of perception configuration, 5G wireless perception services, disclosure, security, charging, etc.

[0291] In some embodiments, mobile operators can play a significant role in providing customers with integrated 5GS-based perception and communication services, including, for example, the management and control of 5G-based perception services. A 5G-Automotive Association (5GAA) technical report (5GAA_White-Paper_C-V2X-Use-Cases-Volume-II.pdf) illustrates the role operators can play in enhancing V2X-type services, particularly in infrastructure-assisted environmental perception, infrastructure-based teleoperation, high-definition map collection and sharing, and teleoperation support.

[0292] In some embodiments, other example use cases where 5GS is studied to provide communication-assisted awareness services are as follows:

[0293] Real-time environmental monitoring: Utilize wireless signals to reconstruct environmental maps, further improve positioning accuracy, and enable environmental applications. This includes a range of real-time monitoring applications, including dynamic 3D map-assisted driving, pedestrian flow statistics, intrusion detection, and traffic detection.

[0294] Autonomous vehicles or drones: Autonomous vehicles and drones share some common functional requirements. For example, they should support Detect and Avoid (DAA) to avoid obstacles. They should also be able to monitor path information, such as selecting routes and complying with traffic regulations.

[0295] Air pollution monitoring: The quality of the received wireless signal exhibits different attenuation characteristics with changes in air humidity, air particulate matter concentration, carrier frequency, etc., and can be used for weather or air quality detection.

[0296] Indoor healthcare and intrusion detection. It can realize respiratory rate estimation, respiratory depth estimation, apnea detection, vital sign monitoring of the elderly and indoor intrusion detection.

[0297] In some embodiments, referring to FIG. 1b , the ISAC system includes the following different roles:

[0298] Object or environment: The target of perceived information.

[0299] Transmitter: A device that transmits radio signals to a target object. It can be a UE or a gNB.

[0300] Receiver: A device that detects sensing information based on the reflection of radio signals from target objects. It can be a UE or a gNB.

[0301] Processor: A device that collects sensory information and processes it to produce sensing results. It can be a UE, gNB, core network entity, or application server.

[0302] Consumer: An authorized device that requests or subscribes to perception information and consumes the output computed from the perception information, such as a UE application, ISAC service application server, core network entity, or RAN node.

[0303] In some embodiments, for a target object, the sensing result may include shape, size, direction, speed, position, distance, or relative motion between objects.

[0304] In some embodiments, for a target environment, the sensing result may include parameters describing the environment space or state.

[0305] In some embodiments, the sensing result may be semi-processed data, which is not a final result.

[0306] In some embodiments, point cloud data can be used to represent sensing results of a target object or target environment or semi-processed data of the object or environment. However, point cloud data is usually massive, which seriously consumes network transmission resources.

[0307] In some embodiments, sensing results may be obtained based on sensing data collected from a receiver.

[0308] In some embodiments, perception data may be collected from multiple receivers, and therefore needs to follow a common format to achieve fusion in a multi-vendor environment based on perception data collected from multiple sources, such as cameras, lidars, radars (ladar), base stations (gNBs), terminals, wireless access network (WLAN) access points (APs), etc.

[0309] FIG2a is an interactive diagram of a communication method according to an embodiment of the present disclosure. As shown in FIG2a, the present disclosure embodiment relates to a communication method for a communication system 100, the method comprising:

[0310] Step S2101: The first device sends first information to the second device.

[0311] In some embodiments, the second device receives the first information sent by the first device.

[0312] In some embodiments, the first information includes a first result obtained by performing sensing (sensing result information).

[0313] In some embodiments, the first information includes raw data information obtained by performing sensing (sensing raw data).

[0314] In some embodiments, the first information includes measurement information for sensing.

[0315] In some embodiments, the first information includes measurement information for perceiving channel measurement.

[0316] In some embodiments, the first information comprises perceptual channel measurement data.

[0317] The first device may obtain the first information from a radio frequency module.

[0318] In some embodiments, the RF module may be a radio frequency (RF) module.

[0319] In some embodiments, the first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

[0320] In some embodiments, the first result includes at least one of the following:

[0321] Perception result information; for example, it can be compressed or decompressed point cloud data;

[0322] Auxiliary information for performing perception.

[0323] In some embodiments, the perception result information includes at least one of the following:

[0324] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0325] The perception result of the environment is used to indicate the perception result associated with the environment.

[0326] Exemplarily, the perception results associated with the environment may include at least one of a 3D map, a digital twin, weather (e.g., rain, snow, or wind), natural disasters (e.g., landside, volcanic eruption, and hurricane), temperature, and humidity).

[0327] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0328] the coordinates of perceived objects;

[0329] The distance of the sensing object; for example, it can be the relative distance or range between the sensing object and the sensing signal receiver;

[0330] Angle of the sensing object; illustratively, it may be the relative angle between the sensing object and the sensing signal receiver, such as an azimuth angle or a vertical angle;

[0331] The speed of the sensing object; for example, it can be the relative speed or speed ratio between the sensing object and the sensing signal receiver;

[0332] The origin of the coordinate system used to sense the object; for example, a coordinate system using the sensing signal receiver as a reference for the origin of the coordinate system, or a coordinate system using the Earth as a reference. The coordinate system can be used to determine the coordinates, distance, angle, and / or velocity of an object.

[0333] The type of coordinate system used to perceive the object; for example, a polar coordinate system, which can include range and angle, where the angle can be elevation and / or azimuth; or a Cartesian coordinate system, for example, with coordinates (x, y, z). The type of coordinate system is used to determine the coordinates, distance, angle, and / or velocity of the object.

[0334] Events associated with the sensing object; for example, events such as traffic jams within or outside the sensing area, detection of a car accident, and detection of an intruder;

[0335] the intensity of the perceived object;

[0336] The amount of signal attenuation of the perceived object;

[0337] Perceive the reflectivity of an object.

[0338] In some embodiments, the auxiliary information includes at least one of the following:

[0339] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0340] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0341] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0342] The maximum detection range; for example, 1Km;

[0343] The maximum detection distance; for example, 1Km;

[0344] The granularity of the detection range;

[0345] The granularity of the detection distance; for example, 1m;

[0346] The maximum angle range of detection; for example, 180 degrees;

[0347] The angular granularity of the detection; for example, 1 degree;

[0348] Maximum detection speed; for example, 300Km / h;

[0349] The granularity of the detection velocity is, for example, 1 m / s.

[0350] In some embodiments, the perceived resolution information includes at least one of the following:

[0351] The minimum distance between two objects;

[0352] The minimum range to distinguish between two objects;

[0353] The minimum distance that distinguishes two points;

[0354] The minimum range to distinguish two points;

[0355] the relative distance between the perceived object and the transceiver used to perform the perception;

[0356] The relative angle between the sensing object and the transceiver used to perform the sensing; for example, azimuth or true angle;

[0357] Object identification, for example, the object identification may be the identification of the login terminal.

[0358] In some embodiments, the original data information includes information for indicating transmission characteristics of perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of perceptual signaling in the spatial domain; transmission characteristics of perceptual signaling in the time domain; and transmission characteristics of perceptual signaling in the frequency domain.

[0359] In some embodiments, the transmission characteristics include transmission characteristics of the perceptual signaling in the spatial domain (eg, at antenna-m).

[0360] In some embodiments, the transmission characteristics include transmission characteristics of the perceptual signaling in the time domain (eg, at OFDM symbol-n).

[0361] In some embodiments, the transmission characteristics include transmission characteristics of the perceptual signaling in the frequency domain (eg, at subcarrier-p).

[0362] Exemplarily, the perception data is the following channel matrix indicating complex values ​​reflecting the amplitude and phase characteristics of the perception signal: m,n,p =C m,n,p =a m,n,p +i*b m,n,p ;

[0363] The transmission characteristic of subcarrier-1 (for 4 antennas and 14 OFDM symbols) can be expressed as: m,n,1 =C1,1,1 ,C 1,2,1 ,C 1,3,1 ,……,C 1,14,1 ,# C 2,1,1 ,C 2,2,1 ,C 2,3,1 ,……,C 2,14,1 ,C 3,1,1 ,C 3,2,1 ,C 3,3,1 ,……,C 3,14,1 ,C 4,1,1 ,C 4,2,1 ,C 4,3,1 ,……,C 4,14,1 ,

[0364] Step S2102: The second device obtains the first information.

[0365] In some embodiments, the second device receives the first information sent by the first device.

[0366] In some embodiments, the second device stores the first information.

[0367] In some embodiments, a first operation is performed on the first information.

[0368] In some embodiments, the first operation includes at least one of the following:

[0369] Coordinate transformation;

[0370] Time conversion;

[0371] Speed ​​conversion;

[0372] reflectivity conversion;

[0373] Intensity conversion.

[0374] In some embodiments, the second device sends the first information to a third device; wherein the third device is configured to store the first information.

[0375] In some embodiments, the second device sends the first information processed by the first operation to the third device.

[0376] In some embodiments, the second device sends the first information to a fourth device; wherein the third device is configured to store the first information.

[0377] In some embodiments, the second device sends the first information processed by the first operation to the fourth device.

[0378] Step S2103: The third device obtains the first information.

[0379] In some embodiments, the third device obtains the first information and stores the first information.

[0380] In some embodiments, the third device receives the second information sent by the second device.

[0381] In some embodiments, the first information is stored based on predetermined information.

[0382] In some embodiments, the predetermined information includes at least one of the following:

[0383] Perception result accuracy; for example, 1m range accuracy, 1 degree angle accuracy, 1m / s speed.

[0384] Perception area;

[0385] Coordinate system;

[0386] The coordinate system type.

[0387] In some embodiments, a third device distributes the perception result.

[0388] In some embodiments, the third device publishes the perception result.

[0389] In some embodiments, a third device creates the perception result.

[0390] In some embodiments, a third device modifies the perception result.

[0391] In some embodiments, the third device deletes the perception result.

[0392] In some embodiments, a third device queries the perception result.

[0393] In some embodiments, the term "information" can be interchangeable with terms such as "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "field", and "data".

[0394] In some embodiments, the term "send" can be interchanged with terms such as "transmit", "report", and "transmit".

[0395] The information indication method involved in the embodiments of the present disclosure may include at least one of steps S2101 to S2103. For example, step S2101 can be implemented as an independent embodiment, step S2102 can be implemented as an independent embodiment, and step S2103 can be implemented as an independent embodiment. For example, step S2101 combined with step S2102 can be implemented as an independent embodiment, step S2102 combined with step S2103 can be implemented as an independent embodiment, and step S2101 combined with steps S2102 and S2103 can be implemented as independent embodiments, but the present invention is not limited thereto.

[0396] Figure 3a is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 3a, the embodiment of the present disclosure relates to a communication method, which is executed by a first device and includes:

[0397] Step S3101: Send first information to the second device.

[0398] In some embodiments, optional implementations of step S3101 may refer to step S2101 in FIG. 2 a and other related parts of the embodiment involved in FIG. 2 a , which will not be described in detail here.

[0399] In some embodiments, the first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

[0400] In some embodiments, the first result includes at least one of the following:

[0401] Perceived result information;

[0402] Auxiliary information for performing perception.

[0403] In some embodiments, the perception result information includes at least one of the following:

[0404] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0405] The perception result of the environment is used to indicate the perception result associated with the environment.

[0406] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0407] the coordinates of perceived objects;

[0408] Perceive the distance of an object;

[0409] the angle from which an object is perceived;

[0410] the speed of the perceived object;

[0411] The origin of the coordinate system used to perceive the object;

[0412] The type of coordinate system used to perceive the object;

[0413] events associated with the perceived object;

[0414] the intensity of the perceived object;

[0415] The amount of signal attenuation of the perceived object;

[0416] Perceive the reflectivity of an object.

[0417] In some embodiments, the auxiliary information includes at least one of the following:

[0418] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0419] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0420] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0421] Maximum detection range;

[0422] Maximum detection distance;

[0423] the granularity of the detection range;

[0424] The granularity of the detection range;

[0425] Maximum angular range of detection;

[0426] Angular granularity of detection;

[0427] Maximum detection speed;

[0428] The granularity of the detection velocity.

[0429] In some embodiments, the perceived resolution information includes at least one of the following:

[0430] The minimum distance between two objects;

[0431] The minimum range to distinguish between two objects;

[0432] The minimum distance that distinguishes two points;

[0433] The minimum range to distinguish two points;

[0434] the relative distance between the perceived object and the transceiver used to perform the perception;

[0435] the relative angle between the object being sensed and the transceiver used to perform the sensing;

[0436] Object identification.

[0437] In some embodiments, the original data information includes information for indicating transmission characteristics of perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of perceptual signaling in the spatial domain; transmission characteristics of perceptual signaling in the time domain; and transmission characteristics of perceptual signaling in the frequency domain.

[0438] Figure 4a is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 4a, the embodiment of the present disclosure relates to a communication method, which is executed by a second device, and the method includes:

[0439] Step S4101: Obtain first information.

[0440] In some embodiments, optional implementations of step S4101 may refer to other related parts of the embodiment involved in step S2102 in FIG. 2 a , which will not be described in detail here.

[0441] In some embodiments, the first information obtained by the second device from at least two devices contains the same information type and / or has the same data format.

[0442] In some embodiments, obtaining the first information includes:

[0443] receiving the first information sent by the first device;

[0444] The first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

[0445] In some embodiments, the method further comprises:

[0446] performing a first operation on the first information;

[0447] The first operation includes at least one of the following:

[0448] Coordinate transformation;

[0449] Time conversion;

[0450] Speed ​​conversion;

[0451] reflectivity conversion;

[0452] Intensity conversion.

[0453] In some embodiments, the method further comprises at least one of the following:

[0454] Sending the first information to a third device; wherein,

[0455] The first information is sent to a fourth device; wherein the fourth device is a consumer end.

[0456] In some embodiments, the first result includes at least one of the following:

[0457] Perceived result information;

[0458] Auxiliary information for performing perception.

[0459] In some embodiments, the perception result information includes at least one of the following:

[0460] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0461] The perception result of the environment is used to indicate the perception result associated with the environment.

[0462] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0463] the coordinates of perceived objects;

[0464] Perceive the distance of an object;

[0465] the angle from which an object is perceived;

[0466] the speed of the perceived object;

[0467] The origin of the coordinate system used to perceive the object;

[0468] The type of coordinate system used to perceive the object;

[0469] Events associated with the object;

[0470] the intensity of the perceived object;

[0471] The amount of signal attenuation of the perceived object;

[0472] Perceive the reflectivity of an object.

[0473] In some embodiments, the auxiliary information includes at least one of the following:

[0474] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0475] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0476] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0477] Maximum detection range;

[0478] Maximum detection distance;

[0479] the granularity of the detection range;

[0480] The granularity of the detection range;

[0481] Maximum angular range of detection;

[0482] Angular granularity of detection;

[0483] Maximum detection speed;

[0484] The granularity of the detection velocity.

[0485] In some embodiments, the perceived resolution information includes at least one of the following:

[0486] The minimum distance between two objects;

[0487] The minimum range to distinguish between two objects;

[0488] The minimum distance that distinguishes two points;

[0489] The minimum range to distinguish two points;

[0490] the relative distance between the perceived object and the transceiver used to perform the perception;

[0491] The relative angle between the sensing object and the transceiver used to perform the sensing.

[0492] In some embodiments, the original data information includes information for indicating transmission characteristics of perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of perceptual signaling in the spatial domain; transmission characteristics of perceptual signaling in the time domain; and transmission characteristics of perceptual signaling in the frequency domain.

[0493] Figure 5a is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 5a, the embodiment of the present disclosure relates to a communication method, which is executed by a third device, and the method includes:

[0494] Step S5101: Obtain first information.

[0495] In some embodiments, optional implementations of step S5101 may refer to other related parts of the embodiment involved in step S2103 in FIG. 2 a , which will not be described in detail here.

[0496] In some embodiments, the first information obtained by the third device from at least two devices contains the same information type and / or has the same data format.

[0497] In some embodiments, the method further comprises:

[0498] Receive the first information sent by the second device.

[0499] In some embodiments, obtaining the first information includes:

[0500] storing the first information based on predetermined information;

[0501] The predetermined information includes at least one of the following:

[0502] Perception result accuracy;

[0503] Perception area;

[0504] Coordinate system;

[0505] The coordinate system type.

[0506] In some embodiments, the method further comprises:

[0507] The perception results are distributed.

[0508] In some embodiments, the method further comprises:

[0509] The perception result is published.

[0510] In some embodiments, the method further comprises at least one of the following:

[0511] creating the perception result;

[0512] modifying the perception result;

[0513] Deleting the perception result;

[0514] Query the perception result.

[0515] In some embodiments, the first result includes at least one of the following:

[0516] Perceived result information;

[0517] Auxiliary information for performing perception.

[0518] In some embodiments, the perception result information includes at least one of the following:

[0519] a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object;

[0520] The perception result of the environment is used to indicate the perception result associated with the environment.

[0521] In some embodiments, the perception result of the perception object is used to indicate at least one of the following:

[0522] the coordinates of perceived objects;

[0523] Perceive the distance of an object;

[0524] the angle from which an object is perceived;

[0525] The origin of the coordinate system used to perceive the object;

[0526] The type of coordinate system used to perceive the object;

[0527] events associated with the perceived object;

[0528] the intensity of the perceived object;

[0529] The amount of signal attenuation of the perceived object;

[0530] Perceive the reflectivity of an object.

[0531] In some embodiments, the auxiliary information includes at least one of the following:

[0532] Perception accuracy information, where the perception accuracy indicates the accuracy of the perception;

[0533] Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

[0534] In some embodiments, the perceptual accuracy information is used to indicate at least one of the following:

[0535] Maximum detection range;

[0536] Maximum detection distance;

[0537] the granularity of the detection range;

[0538] the granularity of the detection range;

[0539] Maximum angular range of detection;

[0540] Angular granularity of detection;

[0541] Maximum detection speed;

[0542] The granularity of the detection velocity.

[0543] In some embodiments, the perceived resolution information includes at least one of the following:

[0544] The minimum distance between two objects;

[0545] The minimum range to distinguish between two objects;

[0546] The minimum distance that distinguishes two points;

[0547] The minimum range to distinguish two points;

[0548] the relative distance between the perceived object and the transceiver used to perform the perception;

[0549] The relative angle between the sensing object and the transceiver used to perform the sensing.

[0550] In some embodiments, the original data information includes information for indicating transmission characteristics of perceptual signaling; wherein the transmission characteristics include at least one of the following: transmission characteristics of perceptual signaling in the spatial domain; transmission characteristics of perceptual signaling in the time domain; and transmission characteristics of perceptual signaling in the frequency domain.

[0551] Figure 6a is an interactive diagram of a communication method according to an embodiment of the present disclosure. As shown in Figure 6a, the embodiment of the present disclosure relates to a communication method for a communication system, the method comprising one of the following steps:

[0552] Step S6101: The first device sends first information to the second device;

[0553] The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

[0554] The optional implementation of step S6101 can refer to the optional implementation of steps S2101 to S2103 in Figure 2a and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0555] In some embodiments, the above method may include the methods of the above-mentioned communication system side, first device, second device, third device, etc. embodiments, which will not be repeated here.

[0556] In order to better understand the embodiments of the present disclosure, some exemplary embodiments are further described below:

[0557] Example 1

[0558] Please refer to FIG7a, which shows a schematic diagram of a perception data management method, wherein the perception data management method includes:

[0559] The sensory data is detected by the receiver via the sensory RF. After local preprocessing, the sensory data is sent to the data processor for further processing. The processor generates sensory result information based on the received sensory data and provides the sensory result information to the service consumer. The sensory results are also stored in a database (i.e., data storage or sensory result storage) for later use.

[0560] In some embodiments, the transmitter may be a RAN node, a UE, or a WLAN AP.

[0561] In some embodiments, the receiver may be a RAN node, a UE, or a WLAN AP.

[0562] In some embodiments, the processor may be a RAN node, a UE, a core network entity, or an application server.

[0563] In some embodiments, the consumer end may be a RAN node, a UE, a core network entity, or an application server.

[0564] In some embodiments, the sensing result storage (corresponding to the third device) is a core network function, which can be independent or configured with other core network functions.

[0565] In some embodiments, the second device may be a data processor.

[0566] In some embodiments, the first device is a receiver, which may also be referred to as a signal receiver in the present disclosure.

[0567] Example 2

[0568] Please refer to FIG7 b , which shows a schematic diagram of the distribution of sensing functions in an ISAC system structure.

[0569] In some embodiments, the service consumer may be deployed in the AF, UE, and RAN.

[0570] In some embodiments, the data processor may be deployed in the AF, UE, RAN, and the Sensing Function User Plane Function (SF-UPF).

[0571] In some embodiments, a receiver may be deployed in the UE and the RAN.

[0572] In some embodiments, a transmitter may be deployed in the UE and the RAN.

[0573] In some embodiments, data storage can be deployed in SDMF and S-UPF.

[0574] Example 3

[0575] In some embodiments, one use case for the ISAC service is to generate 3D map information from a vehicle. In this use case, the vehicle is an onboard UE equipped with lidar, radar, and a camera, and capable of acting as a transmitter or receiver. The vehicle performs fusion based on perception results obtained from the 3GPP network and information obtained from the lidar, radar, and camera. The fused data is then used to generate a 3D map at the vehicle.

[0576] In some embodiments, referring again to FIG. 7 b , an ISAC architecture is shown.

[0577] In some embodiments, a sensing function control plane function (SF-C) and a SF-UPF are introduced to process ISAC service requests, collect sensing data from receivers, and generate sensing results according to the ISAC service requests.

[0578] In some embodiments, the functions of SF-C include:

[0579] Receive ISAC service requests;

[0580] Selection of SF-UPF;

[0581] Query SF-UPF test results;

[0582] Management (creation, modification, termination) of the ISAC session between the SF-UPF and the gNB;

[0583] Control SF-UPF to deliver sensing results to consumers;

[0584] Transmitter or transmitter selection.

[0585] In some embodiments, the functions of SF-UPF include:

[0586] Establish an ISAC session between the SF-UPF and the gNB under the control of the SF-C;

[0587] Under the control of the SMF, a PDU session is established between the SF-UPF and the UE, acting as a UPF.

[0588] processing the sensory data received from the receiver;

[0589] Storage and management of perception results;

[0590] Provides perception results based on the target perception area.

[0591] In some embodiments, at least one of the following interfaces is introduced:

[0592] NS0: Perception result query and perception data disclosure control between SF-C and SF-UPF;

[0593] NS1: Between UPF and SF-UPF, used to transmit sensing data on UP;

[0594] NS2: Between the gNB and SF-UPF, used to transmit sensing data on the UP.

[0595] In some embodiments, the SF-UPF is a NF that processes the sensory data received from the receiver. The processed sensory data is associated with a specific sensory area, location, time, or other characteristics. The processed sensory data is stored in the SF-UPF. If new sensory detection is performed for the same sensory area, location, or other characteristics, the processed sensory data can be updated.

[0596] In some embodiments, when an ISAC service request is received at the SF-C, it first checks with the SF-UPF whether there is available sensing data that matches the target sensing area and QoS requirements contained in the service request. If so, the SF-UPF provides the sensing results to the consumer on the user plane. Otherwise, the SF-C initiates a sensing process to detect sensing data within the target sensing area. The newly detected sensing data can be provided directly to the consumer or sent to the SF-UPF for further processing. Depending on the size of the sensing result information, the SF-UPF sends the sensing results with larger capacity to the consumer on the user plane or smaller capacity to the consumer on the control plane.

[0597] In some embodiments, to ensure that the SF-UPF's query for the sensing data of the target sensing area is successful, the SF-C selects the SF-UPF according to the SF-UPFs of the target sensing area and the serving sensing area received from the ISAC service request.

[0598] In some embodiments, to initiate the sensing process, the SF-C selects a transmitter and a receiver based on a target sensing area and a sensing entity serving the sensing area.

[0599] In some embodiments, to enable upward collection of sensing data from the gNB to the SF-UPF, the SF-C generates an ISAC service task based on the ISAC service request and binds the ISAC service task to the ISAC session between the gNB and the SF-UPF. If an existing session already exists, the SF-C binds the ISAC service task ID to the ISAC session ID; otherwise, a new ISAC session must be established.

[0600] In some embodiments, for ISAC session establishment, the SF-C sends an ISAC session establishment request, including the ISAC role ID and SF-UPF ID, to the selected gNB. The gNB creates a new session context, including the ISAC role ID and SF-UPF ID, and responds to the SF-C.

[0601] In some embodiments, upon receiving the response, the SF-C triggers the gNB to perform sensing by sending an ISAC service request. The gNB performs sensing based on the request, and the collected sensing data is sent to the SF-UPF via the uplink connection of the ISAC session.

[0602] In some embodiments, the collected sensory data may include:

[0603] Perceive channel measurement data;

[0604] Perceive point cloud data.

[0605] In some embodiments, the collected sensory data may be further processed at the SF-UPF and then provided to the consumer.

[0606] In some embodiments, the SF-UPF may perform the following sensing data processing:

[0607] Coordinate transformation;

[0608] Time conversion;

[0609] Speed ​​conversion.

[0610] In some embodiments, the sensing results exposed by the user to the UE:

[0611] If there is a PDU session between SF-UPF and UE, the perception result is provided to UE through UP.

[0612] Otherwise, the SF-UPF initiates the existing PDU session establishment procedure defined in TS 23.502 / 4.3.2 and executes as an application server.

[0613] Example 4:

[0614] Referring to FIG. 7 c , a communication method is shown, the method comprising:

[0615] Step S7101: The consumer UE sends an ISAC service request to the SF-C through the AMF. The request includes the target sensing area, consumer UE ID, validity period, required QoS, and expected sensing result (e.g., final result or semi-processed data).

[0616] Step S7102: SF-C selects SF-UPF according to the target perception area.

[0617] Step S7103: SF-C sends an ISAC service request to SF-UPF, including the target sensing area, user UE ID and required QoS.

[0618] Step S7104: SF-UPF queries local data based on the target sensing area, required QoS and validity time.

[0619] Step S7105: If matching sensing data is found, the SF-UPF responds to SF-C to send the sensing result to the consumer, skipping steps S7106-S71013; otherwise, the SF-UPF responds to SF-C that there is no available sensing result.

[0620] In step S7106, the SF-C selects a transmitter or receiver based on the target sensing area. The SF-C generates an ISAC service task ID for the ISAC service request. If an ISAC session exists between the gNB and the SF-UPF, the SF-C binds the ISAC service task ID to the ISAC session ID and skips steps S7107-S7109.

[0621] Step S7107: If there is no existing ISAC session between the gNB and the SF-UPF, the SF-C sends an ISAC session establishment request to the selected gNB, including the ISAC task ID and SF-UPF ID.

[0622] Step S7108: The gNB creates a new session context, including the ISAC task ID and SF-UPF ID.

[0623] Step S7109: The gNB responds to the SF-C of the established ISAC session.

[0624] Step S7110: Upon receiving the response, the SF-C triggers the gNB to perform sensing by sending an ISAC service request.

[0625] Step S7111: The gNB performs perception based on the request.

[0626] Step S7112: The gNB sends the collected sensing data to the SF-UPF via the uplink connection of the ISAC session.

[0627] Step S7113: Based on the received perception data and the expected perception result, the perception data may be further processed at the SF-UPF:

[0628] If the sensing channel measurement data is received, SF-UPF processes it into point cloud data;

[0629] If point cloud data is received, data conversion may be required depending on the expected results.

[0630] Step S7114: SF-UPF stores the processed sensor data locally.

[0631] Step S7115: If no PDU session exists between the SF-UPF and the UE, the SF-UPF initiates the PDU session establishment procedure defined in TS 23.502 / 4.3.2 and executes it as an application server; otherwise, this step is skipped.

[0632] Step S7116: Provide the sensing result to the UE through the user plane.

[0633] Example 5

[0634] See Figure 7d for the case where a vehicle uses ISAC services to generate 3D map information. The SF-UPF can be deployed in the same local data network as the gNB. If the sensing gNB is the UE's serving gNB, if the SF-UPF is configured with the sensing gNB, and if sensing data processing at the SF-UPF is skipped, the sensing data is sent directly from the gNB to the UE via a dedicated uplink channel, which is the optimized path.

[0635] A communication method is provided, comprising:

[0636] Step 7201: The vehicle sends an ISAC service request to the SF-C.

[0637] Step 7202: SF-C sends an ISAC service request to SF-UPF.

[0638] Step 7203: SF-UPF queries local data.

[0639] Step 7204: SF-UPF sends a service awareness response to SF-CFASONG.

[0640] Step 7205: An ISAC session is established between the access network device and the SF-C.

[0641] Step 7206: The access network device performs sensing.

[0642] Step 7207: The access network device sends the compressed perception point cloud data to the SF-UPF.

[0643] Step 7208: SF-UPF performs sensing data processing.

[0644] Step 7209: SF-UPF sends the compressed perception point cloud data to the vehicle.

[0645] The present disclosure reduces unnecessary abuse of wireless resources for performing perception detection by using a perception database in the SF-UPF to retrieve perception results from available perception data.

[0646] This disclosure introduces the SF-UPF, providing an optimized path for transmitting massive amounts of sensor data. When a gNB is selected as a transmitter or receiver, the SF-UPF can be deployed in the same local data network as the gNB. It also allows for charging and lawful interception at the SF-UPF.

[0647] In the embodiments of the present disclosure, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations of other embodiments.

[0648] The embodiments of the present disclosure further provide an apparatus for implementing any of the above methods. For example, an apparatus is provided, comprising units or modules for implementing each step performed by a terminal in any of the above methods. For another example, another apparatus is provided, comprising units or modules for implementing each step performed by a network device (e.g., an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0649] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units or modules by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0650] In the embodiments of the present disclosure, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit. The logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0651] Figure 8a is a schematic diagram of the structure of the first device 8100 proposed in an embodiment of the present disclosure. As shown in Figure 8a, the first device 8100 may include: at least one of a transceiver module 8101, a processing module 8102, etc. In some embodiments, the transceiver module is used to send and receive information. Optionally, the transceiver module is used to perform at least one of the communication steps such as sending and / or receiving performed by the first device in any of the above methods, which will not be repeated here. Optionally, the processing module is used to perform at least one of the other steps performed by the first device in any of the above methods, which will not be repeated here.

[0652] Figure 8b is a schematic diagram of the structure of the second device 8200 proposed in an embodiment of the present disclosure. As shown in Figure 8b, the second device 8200 may include: at least one of a transceiver module 8201, a processing module 8202, etc. In some embodiments, the transceiver module is used to send and receive information. Optionally, the transceiver module is used to perform at least one of the communication steps such as sending and / or receiving performed by the second device in any of the above methods, which will not be repeated here. Optionally, the processing module is used to perform at least one of the other steps performed by the second device in any of the above methods, which will not be repeated here.

[0653] Figure 8c is a schematic diagram of the structure of a third device 8300 proposed in an embodiment of the present disclosure. As shown in Figure 8c, the third device 8300 may include at least one of a transceiver module 8301 and a processing module 8302. In some embodiments, the transceiver module is used to send and receive information. Optionally, the transceiver module is used to perform at least one of the communication steps, such as sending and / or receiving, performed by the third device in any of the above methods, and will not be further described here.

[0654] In some embodiments, the transceiver module may include a transmitting module and / or a receiving module, and the transmitting module and the receiving module may be separate or integrated. Optionally, the transceiver module may be interchangeable with the transceiver.

[0655] In some embodiments, the processing module can be a single module or can include multiple submodules. Optionally, the multiple submodules respectively execute all or part of the steps required to be executed by the processing module. Optionally, the processing module can be interchangeable with the processor.

[0656] Figure 9a is a schematic diagram of the structure of a communication device 9100 proposed in an embodiment of the present disclosure. Communication device 9100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a user equipment, etc.), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 9100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0657] As shown in Figure 9a, the communication device 9100 includes one or more processors 9101. The processor 9101 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (such as a base station, baseband chip, terminal device, terminal device chip, DU or CU, etc.), execute programs, and process program data. The communication device 9100 is used to perform any of the above methods.

[0658] In some embodiments, the communication device 9100 further includes one or more memories 9102 for storing instructions. Optionally, all or part of the memories 9102 may be located outside the communication device 9100.

[0659] In some embodiments, the communication device 9100 further includes one or more transceivers 9103. When the communication device 9100 includes one or more transceivers 9103, the transceiver 9103 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S2101 and step S3101, but not limited thereto), and the processor 9101 performs at least one of the other steps.

[0660] In some embodiments, a transceiver may include a receiver and / or a transmitter. The receiver and transmitter may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0661] In some embodiments, the communication device 9100 may include one or more interface circuits 9104. Optionally, the interface circuit 9104 is connected to the memory 9102. The interface circuit 9104 may be configured to receive signals from the memory 9102 or other devices, and may be configured to send signals to the memory 9102 or other devices. For example, the interface circuit 9104 may read instructions stored in the memory 9102 and send the instructions to the processor 9101.

[0662] The communication device 9100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 9100 described in the present disclosure is not limited thereto, and the structure of the communication device 9100 may not be limited by FIG. 8a. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0663] FIG10b is a schematic diagram of the structure of the chip 9200 proposed in an embodiment of the present disclosure. If the communication device 9100 can be a chip or a chip system, please refer to the schematic diagram of the structure of the chip 9200 shown in FIG10b, but the present disclosure is not limited thereto.

[0664] The chip 9200 includes one or more processors 9201 , and the chip 9200 is configured to execute any of the above methods.

[0665] In some embodiments, the chip 9200 further includes one or more interface circuits 9202. Optionally, the interface circuit 9202 is connected to the memory 9203. The interface circuit 9202 can be used to receive signals from the memory 9203 or other devices, and can be used to send signals to the memory 9203 or other devices. For example, the interface circuit 9202 can read instructions stored in the memory 9203 and send the instructions to the processor 9201.

[0666] In some embodiments, the interface circuit 9202 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processor 9201 performs at least one of the other steps.

[0667] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0668] In some embodiments, the chip 9200 further includes one or more memories 9203 for storing instructions. Alternatively, all or part of the memories 9203 may be located outside the chip 9200.

[0669] The present disclosure also proposes a storage medium having instructions stored thereon, which, when executed on the communication device 9100, causes the communication device 9100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto and may also be a temporary storage medium.

[0670] The present disclosure also provides a program product, which, when executed by the communication device 9100, enables the communication device 9100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0671] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A communication method, characterized in that: The method is performed by a first device, and includes: sending the first information to the second device; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

2. The method according to claim 1, characterized in that The first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

3. The method according to claim 1, characterized in that The first result includes at least one of the following: Perceived result information; Auxiliary information for performing perception.

4. The method according to claim 3, characterized in that The perception result information includes at least one of the following: a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object; The perception result of the environment is used to indicate the perception result associated with the environment.

5. The method according to claim 4, characterized in that The perception result of the perception object is used to indicate at least one of the following: the coordinates of perceived objects; Perceive the distance of an object; the angle from which an object is perceived; the speed of the perceived object; The origin of the coordinate system used to perceive the object; The type of coordinate system used to perceive the object; events associated with the perceived object; the intensity of the perceived object; The amount of signal attenuation of the perceived object; Perceive the reflectivity of an object.

6. The method according to claim 3, characterized in that The auxiliary information includes at least one of the following: Perception accuracy information, where the perception accuracy indicates the accuracy of the perception; Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

7. The method according to claim 6, characterized in that The perception accuracy information is used to indicate at least one of the following: Maximum detection range; Maximum detection distance; the granularity of the detection range; The granularity of the detection range; Maximum angular range of detection; Angular granularity of detection; Maximum detection speed; The granularity of the detection velocity.

8. The method according to claim 6, characterized in that The perceptual resolution information includes at least one of the following: The minimum distance between two objects; The minimum range to distinguish between two objects; The minimum distance that distinguishes two points; The minimum range to distinguish two points; the relative distance between the perceived object and the transceiver used to perform the perception; the relative angle between the object being sensed and the transceiver used to perform the sensing; Object identification.

9. The method according to claim 1, characterized in that The original data information includes information for indicating the transmission characteristics of the perception signaling; wherein the transmission characteristics include at least one of the following: the transmission characteristics of the perception signaling in the spatial domain; the transmission characteristics of the perception signaling in the time domain; and the transmission characteristics of the perception signaling in the frequency domain.

10. A communication method, characterized in that: The method is performed by a second device, and includes: Obtaining first information; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

11. The method according to claim 10, characterized in that The first information obtained by the second device from at least two devices contains the same information type and / or has the same data format.

12. The method according to claim 10, characterized in that The obtaining of the first information includes: receiving the first information sent by the first device; The first information sent by at least two of the first devices to the second device contains the same information type and / or has the same data format.

13. The method according to claim 10 or 12, characterized in that: The method further comprises: performing a first operation on the first information; The first operation includes at least one of the following: Coordinate transformation; Time conversion; Speed ​​conversion; reflectivity conversion; Intensity conversion.

14. The method according to claim 10, characterized in that The method further comprises at least one of the following: Sending the first information to a third device; wherein, The first information is sent to a fourth device; wherein the fourth device is a consumer end.

15. The method according to claim 10, characterized in that The first result includes at least one of the following: Perceived result information; Auxiliary information for performing perception.

16. The method according to claim 15, characterized in that The perception result information includes at least one of the following: a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object; The perception result of the environment is used to indicate the perception result associated with the environment.

17. The method according to claim 16, characterized in that The perception result of the perception object is used to indicate at least one of the following: the coordinates of perceived objects; Perceive the distance of an object; the angle from which an object is perceived; the speed of the perceived object; The origin of the coordinate system used to perceive the object; The type of coordinate system used to perceive the object; Events associated with the object; the intensity of the perceived object; The amount of signal attenuation of the perceived object; Perceive the reflectivity of an object.

18. The method according to claim 15, characterized in that The auxiliary information includes at least one of the following: Perception accuracy information, where the perception accuracy indicates the accuracy of the perception; Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

19. The method according to claim 18, characterized in that The perception accuracy information is used to indicate at least one of the following: Maximum detection range; Maximum detection distance; the granularity of the detection range; The granularity of the detection range; Maximum angular range of detection; Angular granularity of detection; Maximum detection speed; The granularity of the detection velocity.

20. The method according to claim 18, wherein The perceptual resolution information includes at least one of the following: The minimum distance between two objects; The minimum range to distinguish between two objects; The minimum distance that distinguishes two points; The minimum range to distinguish two points; the relative distance between the perceived object and the transceiver used to perform the perception; The relative angle between the sensing object and the transceiver used to perform the sensing.

21. The method according to claim 10, wherein The original data information includes information for indicating the transmission characteristics of the perception signaling; wherein the transmission characteristics include at least one of the following: the transmission characteristics of the perception signaling in the spatial domain; the transmission characteristics of the perception signaling in the time domain; and the transmission characteristics of the perception signaling in the frequency domain.

22. A communication method, characterized in that: The method is performed by a third device, and includes: Obtaining first information; storing the first information; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

23. The method according to claim 22, characterized in that The first information obtained by the third device from at least two devices contains the same information type and / or has the same data format.

24. The method according to claim 22, characterized in that The method further comprises: Receive the first information sent by the second device.

25. The method according to claim 22, wherein The obtaining of the first information includes: storing the first information based on predetermined information; The predetermined information includes at least one of the following: Perception result accuracy; Perception area; Coordinate system; The coordinate system type.

26. The method according to claim 25, characterized in that The method further comprises: The perception results are distributed.

27. The method according to claim 25, characterized in that The method further comprises: The perception result is published.

28. The method according to claim 25, characterized in that The method further comprises at least one of the following: creating the perception result; modifying the perception result; Deleting the perception result; Query the perception result.

29. The method according to claim 22, wherein The first result includes at least one of the following: Perceived result information; Auxiliary information for performing perception.

30. The method according to claim 29, wherein The perception result information includes at least one of the following: a perception result of a perception object, wherein the perception result of the perception object is used to indicate a perception result associated with the perception object; The perception result of the environment is used to indicate the perception result associated with the environment.

31. The method according to claim 30, wherein The perception result of the perception object is used to indicate at least one of the following: the coordinates of perceived objects; Perceive the distance of an object; the angle from which an object is perceived; The origin of the coordinate system used to perceive the object; The type of coordinate system used to perceive the object; events associated with the perceived object; the intensity of the perceived object; The amount of signal attenuation of the perceived object; Perceive the reflectivity of an object.

32. The method according to claim 29, wherein The auxiliary information includes at least one of the following: Perception accuracy information, where the perception accuracy indicates the accuracy of the perception; Perceptual resolution information, where the perceptual resolution is used to distinguish the resolutions of two objects.

33. The method according to claim 32, characterized in that The perception accuracy information is used to indicate at least one of the following: Maximum detection range; Maximum detection distance; the granularity of the detection range; the granularity of the detection range; Maximum angular range of detection; Angular granularity of detection; Maximum detection speed; The granularity of the detection velocity.

34. The method according to claim 32, wherein The perceptual resolution information includes at least one of the following: The minimum distance between two objects; The minimum range to distinguish between two objects; The minimum distance that distinguishes two points; The minimum range to distinguish two points; the relative distance between the perceived object and the transceiver used to perform the perception; The relative angle between the sensing object and the transceiver used to perform the sensing.

35. The method according to claim 22, wherein The original data information includes information for indicating the transmission characteristics of the perception signaling; wherein the transmission characteristics include at least one of the following: the transmission characteristics of the perception signaling in the spatial domain; the transmission characteristics of the perception signaling in the time domain; and the transmission characteristics of the perception signaling in the frequency domain.

36. A communication method, characterized in that: The method comprises: The first device sends first information to the second device; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

37. A first device, characterized in that The first device includes: a transceiver module, configured to: send first information to the second device; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

38. A second device, characterized in that: The second device includes: The processing module is configured to: Obtaining first information; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

39. A third device, characterized in that: The third device includes: The processing module is configured to: Obtaining first information; storing the first information; The first information includes a first result obtained by performing the perception and / or original data information obtained by performing the perception.

40. A communication system, characterized in that: The communication system includes a first device, a second device and a third device; the first device is configured to implement the method described in any one of claims 1 to 9, the second device is configured to implement the method described in any one of claims 10 to 21, and the second device is configured to implement the method described in any one of claims 22 to 35.

41. A first device, characterized in that The first device includes: one or more processors; The first device is configured to execute the method according to any one of claims 1 to 9.

42. A second device, characterized in that The second device includes: one or more processors; The second device is configured to execute the method according to any one of claims 10 to 21.

43. A third device, characterized in that The third device includes: one or more processors; The third device is configured to execute the method according to any one of claims 22 to 35.

44. A storage medium, characterized in that The storage medium stores instructions, and when the instructions are executed on a communication device, the communication device executes the method according to any one of claims 1 to 9, 10 to 21, or claims 22 to 35.

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