Communication method and apparatus

Abstract

Provided in the present application are a communication method and apparatus, which can reduce transmission overheads of sensing data. The method comprises: a first communication device acquiring three-dimensional coordinate information of N sensing points, wherein the three-dimensional coordinate information of the N sensing points is obtained by performing sensing on a first environmental space, with N being a positive integer; and the first communication device sending first information to a second communication device, which first information is used for indicating distance information from each of the N sensing points to a two-dimensional plane and two-dimensional coordinate information of M projection points, wherein the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N sensing points onto the two-dimensional plane, with M being a positive integer less than or equal to N.

Description

Communication method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on February 29, 2024, with application number 202410236268.9 and application name "A Communication Method and Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of communication technology, and in particular to a communication method and device. Background Art

[0004] For the sixth generation mobile communication network (6 th In scenarios such as 6G (6th generation mobile networks) perception environment reconstruction, the terminal device needs to upload the collected 3D perception data to the network device so that the network device can reconstruct the data or perform 3D modeling.

[0005] Currently, terminal devices typically upload 3D perception data to network devices using polygonal data formats. Polygonal data formats primarily consist of two parts: vertex data and edge data. Transmitting vertex and edge data increases the amount of data transmitted over the air interface, increasing air interface overhead. Summary of the Invention

[0006] The present application provides a communication method and device for compressing and transmitting perception data, thereby reducing transmission overhead.

[0007] In a first aspect, an embodiment of the present application provides a communication method, including: a first communication device obtains three-dimensional coordinate information of N perception points, where the three-dimensional coordinate information of the N perception points is obtained by perceiving a first environmental space, and N is a positive integer; and the first communication device sends first information to a second communication device, where the first information is used to indicate the distance information between the N perception points and a two-dimensional plane and the two-dimensional coordinate information of M projection points; wherein the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and M is a positive integer less than or equal to N.

[0008] The above design uses a two-dimensional plane projection method to convert the three-dimensional coordinate information of the perception point into two-dimensional coordinate information for compressed transmission, which can reduce transmission overhead.

[0009] In one possible design, the first information includes the two-dimensional coordinate information of the M projected points; alternatively, the first information includes compressed information corresponding to the two-dimensional coordinate information of the M projected points, where the compressed information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter. This design can further reduce the amount of two-dimensional coordinate information transmitted, thereby reducing transmission overhead and improving communication efficiency.

[0010] In one possible design, the first communication device further includes: receiving second information indicating a type of the at least one compression boundary parameter; and determining the at least one compression boundary parameter based on the second information and the two-dimensional coordinate information of the M projection points. This design supports other communication devices configuring the type of the compression boundary parameter, thereby achieving multiple compression methods for the two-dimensional coordinate information and providing greater flexibility.

[0011] Several designs for indicating the distance information between N perception points and the two-dimensional plane in the first indication are described in detail below.

[0012] In a possible design, the first information further includes M sets, the M sets correspond to the M projection points one-to-one, and the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

[0013] In one possible implementation of this design, the mth set includes I m distance value, the I m One of the distance values ​​indicates the I m By implementing this, the second communication device can quickly determine the distances between each of the N sensing points and the two-dimensional plane.

[0014] In another possible implementation of this design, if I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I mThe i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m This implementation can reduce the amount of data transmitted for the distance value, lower transmission overhead, and improve communication efficiency.

[0015] In another possible design, the first information also includes P sets, where the p-th set among the P sets includes distance information between the p-th perception point corresponding to the j-th projection point among the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P, and the value of P is determined based on the number of perception points corresponding to the first projection point among the M projection points, where the number of perception points corresponding to the first projection point among the M projection points is the largest. With such a design, when the distance information between the p-th perception point corresponding to multiple projection points and the two-dimensional plane is the same, the p-th set can only include the same distance information, which can reduce transmission overhead.

[0016] In one possible design, the first communication device further includes: receiving third information indicating a format of the set; and determining one or more sets in the first information based on the third information. With this design, the first communication device can indicate, in the first information, the distance information between each of the N perception points and the two-dimensional plane according to the indicated set format, thereby ensuring consistent understanding of the first information across multiple communication devices and facilitating decoding and analysis of the first information.

[0017] In one possible design, the first information also includes the number of perception points corresponding to each of the M projection points. This design facilitates the second communication device to quickly determine the three-dimensional coordinate information of the perception point by combining the number of perception points corresponding to each projection point and the distance information.

[0018] In one possible design, the two-dimensional plane can be determined by the first communication device itself, and the first communication device can also send parameters for determining the two-dimensional plane to the second communication device; or, the two-dimensional plane is indicated to the first communication device by other devices, for example, the first communication device can also receive parameters for determining the two-dimensional plane from the second communication device.

[0019] In a second aspect, an embodiment of the present application provides a communication method, comprising: a second communication device receiving first information from a first communication device, and determining three-dimensional coordinate information of N perception points based on the first information, wherein the three-dimensional coordinate information of the N perception points is used to restore the first environmental space. The first information is used to indicate distance information between the N perception points and a two-dimensional plane and two-dimensional coordinate information of M projection points; the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and the three-dimensional coordinate information of the N perception points is obtained by sensing the first environmental space, where N is a positive integer and M is a positive integer less than or equal to N.

[0020] In one possible design, the first information includes the two-dimensional coordinate information of the M projection points; or, the first information includes compression information corresponding to the two-dimensional coordinate information of the M projection points, and the compression information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter.

[0021] In a possible design, it also includes: the second communication device sends second information to the first communication device, where the second information is used to indicate the type of the at least one compression boundary parameter.

[0022] In a possible design, the first information further includes M sets, the M sets correspond to the M projection points one-to-one, and the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

[0023] In one possible design, the mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

[0024] In one possible design, if I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I mThe i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

[0025] In one possible design, the first information also includes P sets, and the pth set in the P sets includes distance information between the pth perception point corresponding to the jth projection point in the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P, and the value of P is determined based on the number of perception points corresponding to the first projection point in the M projection points, and the number of perception points corresponding to the first projection point in the M projection points is the largest.

[0026] In a possible design, the first information also includes the number of perception points corresponding to each of the M projection points.

[0027] In one possible design, it also includes: the second communication device sends third information to the first communication device, and the third information is used to indicate the format of the set.

[0028] In one possible design, it also includes: the second communication device receiving parameters for determining the two-dimensional plane from the first communication device; or the second communication device sending parameters for determining the two-dimensional plane to the first communication device.

[0029] In a third aspect, an embodiment of the present application provides a communication device, which may be a first communication device, or a device, module, or chip in the first communication device, or a device that can be used in combination with the first communication device. In one design, the communication device may include a module that corresponds one-to-one to the method / operation / step / action described in the first aspect, and the module may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one design, the communication device may include a processing module and a communication module, and the communication module includes a sending unit and a receiving unit. Optionally, the processing module may also be replaced by the description of the processing unit.

[0030] The communication module is used to obtain three-dimensional coordinate information of N perception points, where the three-dimensional coordinate information of the N perception points is obtained by perceiving the first environment space, and N is a positive integer.

[0031] A processing module is used to send first information to a second communication device through a communication module, where the first information is used to indicate the distance information between the N perception points and the two-dimensional plane and the two-dimensional coordinate information of the M projection points; wherein the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and M is a positive integer less than or equal to N.

[0032] In one possible design, the first information includes the two-dimensional coordinate information of the M projection points; or, the first information includes compression information corresponding to the two-dimensional coordinate information of the M projection points, and the compression information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter.

[0033] In one possible design, the communication module is further configured to receive second information indicating a type of the at least one compression boundary parameter. The processing module is further configured to determine the at least one compression boundary parameter based on the second information and the two-dimensional coordinate information of the M projection points.

[0034] Several designs for indicating the distance information between N perception points and the two-dimensional plane in the first indication are described in detail below.

[0035] In a possible design, the first information further includes M sets, the M sets correspond to the M projection points one-to-one, and the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

[0036] In one possible implementation of this design, the mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

[0037] In another possible implementation of this design, if I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I mThe i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

[0038] In another possible design, the first information also includes P sets, and the pth set in the P sets includes distance information between the pth perception point corresponding to the jth projection point in the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P, and the value of P is determined based on the number of perception points corresponding to the first projection point in the M projection points, and the number of perception points corresponding to the first projection point in the M projection points is the largest.

[0039] In one possible design, the communication module is further used to receive third information, where the third information is used to indicate the format of the set; and the processing module is further used to determine one or more sets in the first information based on the third information.

[0040] In a possible design, the first information also includes the number of perception points corresponding to each of the M projection points.

[0041] In one possible design, the communication module is further used to send parameters for determining the two-dimensional plane to the second communication device; or, the communication module is further used to receive parameters for determining the two-dimensional plane from the second communication device.

[0042] In a fourth aspect, an embodiment of the present application provides a communication device, which may be a second communication device, or a device, module, or chip in the second communication device, or a device that can be used in combination with the second communication device. In one design, the communication device may include a module that corresponds one-to-one to the execution of the method / operation / step / action described in the fourth aspect, and the module may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one design, the communication device may include a processing module and a communication module, and the communication module includes a sending unit and a receiving unit. Optionally, the processing module may also be replaced by the description of the processing unit.

[0043] a communication module, configured to receive first information from a first communication device, the first information being used to indicate distance information between N perception points and a two-dimensional plane and two-dimensional coordinate information of M projection points; wherein the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and the three-dimensional coordinate information of the N perception points is obtained by sensing a first environmental space, wherein N is a positive integer, and M is a positive integer less than or equal to N;

[0044] A processing module is used to determine the three-dimensional coordinate information of the N perception points based on the first information, and the three-dimensional coordinate information of the N perception points is used to restore the first environmental space.

[0045] In one possible design, the first information includes the two-dimensional coordinate information of the M projection points; or, the first information includes compression information corresponding to the two-dimensional coordinate information of the M projection points, and the compression information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter.

[0046] In one possible design, the communication module is further used to send second information to the first communication device, where the second information is used to indicate the type of the at least one compression boundary parameter.

[0047] In a possible design, the first information further includes M sets, the M sets correspond to the M projection points one-to-one, and the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

[0048] In one possible design, the mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

[0049] In one possible design, if I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I mThe i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

[0050] In one possible design, the first information also includes P sets, and the pth set in the P sets includes distance information between the pth perception point corresponding to the jth projection point in the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P, and the value of P is determined based on the number of perception points corresponding to the first projection point in the M projection points, and the number of perception points corresponding to the first projection point in the M projection points is the largest.

[0051] In a possible design, the first information also includes the number of perception points corresponding to each of the M projection points.

[0052] In one possible design, the communication module is further used to send third information to the first communication device, where the third information is used to indicate the format of the set.

[0053] In one possible design, the communication module is further used to receive parameters for determining the two-dimensional plane from the first communication device; or, the communication module is further used to send parameters for determining the two-dimensional plane to the first communication device.

[0054] In a fifth aspect, an embodiment of the present application provides a communication device, comprising a processor configured to implement the method described in the first aspect. The processor is coupled to a memory configured to store instructions and data. When the processor executes the instructions stored in the memory, the method described in the first aspect can be implemented. Optionally, the communication device may further comprise a memory; the communication device may further comprise a communication interface configured to enable the communication device to communicate with other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, pin, or other type of communication interface.

[0055] In a sixth aspect, an embodiment of the present application provides a communication device, comprising a processor configured to implement the method described in the second aspect. The processor is coupled to a memory configured to store instructions and data. When the processor executes the instructions stored in the memory, the method described in the second aspect can be implemented. Optionally, the communication device may further comprise a memory; the communication device may further comprise a communication interface configured to enable the communication device to communicate with other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, pin, or other type of communication interface.

[0056] In a seventh aspect, an embodiment of the present application provides a communication system, comprising a communication device as described in the third aspect or the fifth aspect; and a communication device as described in the fourth aspect or the sixth aspect.

[0057] In an eighth aspect, an embodiment of the present application further provides a computer program, which, when executed on a computer, enables the computer to execute the method provided in the first or second aspect above.

[0058] In a ninth aspect, an embodiment of the present application further provides a computer program product, comprising instructions, which, when executed on a computer, enable the computer to execute the method provided in the first or second aspect above.

[0059] In the tenth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is run on a computer, the computer executes the method provided in the first or second aspect above.

[0060] In the eleventh aspect, an embodiment of the present application further provides a chip, which is used to read a computer program stored in a memory and execute the method provided in the first or second aspect above, or the chip includes a circuit for executing the method provided in the first or second aspect above.

[0061] In a twelfth aspect, an embodiment of the present application further provides a chip system, which includes a processor for supporting a device to implement the method provided in the first or second aspect above. In one possible design, the chip system also includes a memory for storing programs and data necessary for the device. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

[0062] For the effects of the solutions provided in any of the second to twelfth aspects above, reference can be made to the corresponding description in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present application;

[0064] FIG2 is a schematic diagram of a polygonal data format;

[0065] FIG3 is a flow chart of a communication method according to an embodiment of the present application;

[0066] FIG4 is a schematic diagram of a two-dimensional plane projection;

[0067] FIG5 is a schematic diagram of another polygonal data format;

[0068] FIG6 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0069] FIG7 is one of the structural diagrams of the communication device in the embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0071] The at least one (item) involved in the embodiments of the present application as follows indicates one (item) or more (items). More (items) refers to two (items) or more than two (items). "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be understood that although the terms first, second, etc. may be used to describe each object in the embodiments of the present application, these objects should not be limited to these terms. These terms are only used to distinguish each object from each other.

[0072] The terms "including" and "having" and any variations thereof mentioned in the following description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes other steps or units that are not listed, or optionally includes other steps or units that are inherent to these processes, methods, products or devices. It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any method or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other methods or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0073] The technical solutions provided in this application can be applied to various communication systems, such as: fifth generation (5G) or new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, wireless local area networks (WLAN) systems, satellite communication systems, future communication systems, such as sixth generation (6G) mobile communication systems, or a fusion system of multiple systems. The technical solutions provided in this application can also be applied to device to device (D2D) communication, vehicle-to-everything (V2X) communication, machine to machine (M2M) communication, machine type communication (MTC), and Internet of Things (IoT) communication systems or other communication systems.

[0074] A network element in a communication system can send a signal to another network element or receive a signal from another network element. The signal may include information, signaling, or data, etc. The network element can also be replaced by an entity, a network entity, a device, a communication device, a communication module, a node, a communication node, etc. The embodiments of the present application are described using a network element as an example. For example, a communication system may include at least one terminal device and at least one access network device. The access network device can send a downlink signal to the terminal device, and / or the terminal device can send an uplink signal to the access network device. In addition, it can be understood that if the communication system includes multiple terminal devices, multiple terminal devices can also send signals to each other, that is, the signal sending network element and the signal receiving network element can both be terminal devices.

[0075] The communication method provided in the embodiment of the present application can be applied to wireless communication systems such as 5G, 6G, and satellite communication. Referring to Figure 1, Figure 1 is a simplified schematic diagram of the wireless communication system provided in the embodiment of the present application. As shown in Figure 1, the wireless communication system includes a wireless access network 100. The wireless access network 100 can be a next-generation (e.g., 6G or higher) wireless access network, or a traditional (e.g., 5G, 4G, 3G, or 2G) wireless access network. One or more communication devices (120a-120j, collectively referred to as 120) can be connected to each other or to one or more network devices (110a, 110b, collectively referred to as 110) in the wireless access network 100. Optionally, Figure 1 is only a schematic diagram, and the wireless communication system may also include other devices, such as core network devices, wireless relay devices, and / or wireless backhaul devices, which are not shown in Figure 1.

[0076] Optionally, in actual applications, the wireless communication system may include multiple network devices (also called access network devices) or multiple communication devices at the same time. A network device may serve one or more communication devices at the same time. A communication device may also access one or more network devices at the same time. The embodiments of the present application do not limit the number of communication devices and network devices included in the wireless communication system.

[0077] The network device may be an entity on the network side for transmitting or receiving signals. The network device may be an access device for a communication device to access the wireless communication system in a wireless manner, such as a base station. The base station can broadly cover the following various names, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), access network equipment in open radio access network (O-RAN), relay station, access point, transmission point (TRP), transmitting point (TP), master station MeNB, secondary station SeNB, multi-standard radio (MSR) node, home base station, network controller, access node, radio node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), radio head (RRH), central unit (CU), distributed unit (DU), radio unit (RU), centralized unit control plane (CU-CP) node, centralized unit user plane (CU-UP) node, positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. The network device may also refer to a communication module, a modem or a chip for being arranged in the aforementioned device or apparatus. The network device may also be a mobile switching center and a device to device (Device-to-Device, D2D), vehicle outreach (vehicle-to-everything, V2X), a device that performs the base station function in machine to machine (machine-to-machine, M2M) communications, a network side device in a 6G network, a device that performs the base station function in a future communication system, etc. The network device may support networks with the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0078] Network devices can be fixed or mobile. For example, base stations 110a and 110b are stationary and are responsible for wireless transmission and reception in one or more cells from communication device 120. The helicopter or drone 120i shown in Figure 1 can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station 120i. In other examples, the helicopter or drone (120i) can be configured to act as a communication device communicating with base station 110b.

[0079] In the embodiments of the present application, the communication device used to implement the above-mentioned network access function can be a network device, or a network device with partial network access functions, or a device capable of supporting the implementation of the network access function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module. The device can be installed in the network device or used in combination with the network device. In the method of the embodiments of the present application, the communication device used to implement the network device function is described as an example of a network device.

[0080] A communication device can be an entity on the user side that is used to receive or transmit signals, such as a mobile phone. A communication device can be used to connect people, objects, and machines. A communication device can communicate with one or more core networks through network devices. Communication devices include handheld devices with wireless connection capabilities, other processing devices connected to a wireless modem, or vehicle-mounted devices. A communication device can be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device. The communication device 120 can be widely used in various scenarios, such as cellular communication, device-to-device (D2D), vehicle-to-everything (V2X), end-to-end (P2P), machine-to-machine (M2M), machine-type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robots, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and mobility, etc. Some examples of the communication device 120 include: user equipment (UE) of the 3GPP standard, fixed equipment, mobile equipment, handheld equipment, wearable equipment, cellular phones, smart phones, session initiation protocol (SIP) phones, laptops, personal computers, smart books, vehicles, satellites, global positioning system (GPS) devices, target tracking equipment, drones, helicopters, aircraft, ships, remote control equipment, smart home devices, industrial equipment, personal communication service (PCS) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), wireless network cameras, tablet computers, handheld computers, mobile internet devices (MIDs), wearable devices such as smart watches, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, terminals in vehicle networking systems, wireless terminals in self-driving cars, wireless terminals in smart grids, wireless terminals in transportation safety, and smart cities. The communication device 120 may be a wireless device in the above scenarios or a device configured in a wireless device, such as a communication module, modem, or chip in the above devices.A communication device may also be referred to as a terminal, terminal device, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. A communication device may also be a communication device in a future wireless communication system. A communication device may be used in a dedicated network device or a general-purpose device. The embodiments of the present application do not limit the specific technology and specific device form used by the communication device.

[0081] Alternatively, a communication device can function as a base station. For example, a UE can function as a dispatching entity, providing sidelink signals between UEs in V2X, D2D, or P2P scenarios. As shown in Figure 1 , a cell phone 120a and a car 120b communicate with each other using sidelink signals. Cell phone 120a and smart home device 120e communicate without relaying the communication signals through base station 110b.

[0082] In the embodiment of the present application, the communication device for realizing the functions of the communication device may be a terminal device, or a terminal device having some of the functions of the above communication devices, or a device capable of supporting the functions of the above communication devices, such as a chip system, which can be installed in the terminal device or used in combination with the terminal device. In the embodiment of the present application, the chip system may be composed of chips, or may include chips and other discrete devices. In the technical solution provided in the embodiment of the present application, the communication device is described as a terminal device or UE as an example.

[0083] Optionally, a wireless communication system is typically composed of cells, with base stations providing cell management and communication services to multiple mobile stations (MS) in the cell. The base station includes a baseband unit (BBU) and a remote radio unit (RRU). The BBU and RRU can be placed in different locations, for example: the RRU is remote and placed in an area with high traffic volume, while the BBU is placed in a central computer room. The BBU and RRU can also be placed in the same computer room. The BBU and RRU can also be different components under the same rack. Optionally, a cell can correspond to a carrier or component carrier.

[0084] It can be understood that the embodiments of the present application can be applied between a network device and a communication device, between a network device and a network device, or between a communication device and a communication device.

[0085] It should be understood that the number and type of each device in the communication system shown in Figure 1 are for illustration only, and the embodiments of the present application are not limited thereto. In actual applications, the communication system may also include more terminal devices, more network devices, and other network elements, such as core network devices, network management and / or network elements for implementing artificial intelligence functions. Among them, the network management can also be called operation administration and maintenance (OAM) network element, referred to as OAM. Operations mainly complete the analysis, prediction, planning and configuration of daily network and business operations; maintenance mainly involves daily operational activities such as testing and fault management of the network and its services. The network management can detect the network operation status, optimize network connections and performance, improve network operation stability, and reduce network maintenance costs.

[0086] It is understandable that all or part of the functions implemented by one or more of the terminal devices, network devices, or core network devices can be virtualized, that is, implemented by one or more of the proprietary processors or general-purpose processors and the corresponding software modules. Among them, since the terminal devices and network devices involve interfaces for air interface transmission, the transceiver functions of the interfaces can be implemented by hardware. Core network devices, such as the aforementioned OAM, can all be virtualized. Optionally, one or more functions of the virtualized terminal devices, network devices, or core network devices can be implemented by cloud devices, such as cloud devices in over-the-top (OTT) systems.

[0087] The method provided in the embodiment of the present application can be used for communication between network equipment and terminal equipment, and can also be used for communication between other communication equipment, such as communication between macro base stations and micro base stations in a wireless backhaul link, communication between two terminal devices in a side link (SL), communication between a terminal device and a network management (OAM), communication between a terminal device and a core network device, etc., without limitation.

[0088] In the perception and environment reconstruction scenario, a perception device can collect 3D perception data from the environment. A communication device acting as a transmitter transmits the 3D perception data, and a communication device acting as a receiver receives the 3D perception data and reconstructs the environment based on the received 3D perception data. A common form of 3D perception data is polygon data. Polygon data consists of two components: vertex data and edge data. Vertex data can also be used to represent the 3D coordinate information of vertices. Vertices can be understood as the perception points obtained by the perception device when perceiving the environment. For example, Figure 2 illustrates an object. Vertex data includes the 3D coordinates of vertices on the object, such as {(x1, y1, z1), (x2, y2, z2), …, (x8, y8, z8)}. Edge data indicates the edges of each face enclosed by multiple vertices on the object. Vertex-based indexing can be categorized as follows: triangle index {123, 134, 346}, quadrangle index {2368}, and pentagonal index {45786}. Taking the four-corner index {2368} as an example, it can be understood that the edge data indicates the four edges in the face surrounded by vertices with indices 2, 3, 6, and 8. Each edge is represented by the vertex indices at its ends as {2,3}, {3,6}, {6,8}, and {8,2}. Currently, the amount of data transmitted in the form of polygonal data is large, resulting in high transmission overhead.

[0089] This embodiment of the present application provides a communication method that compresses and transmits the three-dimensional coordinate information of a sensing point by projecting the sensing point onto a two-dimensional plane, thereby reducing transmission overhead. Applied to air interface transmission scenarios, this method can reduce the amount of data transmitted over the air interface, thereby lowering air interface overhead and improving communication efficiency.

[0090] Figure 3 illustrates a communication method. This communication method primarily uses the interaction between a first communication device and a second communication device as an example to describe a scheme for compressing and transmitting the three-dimensional coordinate information of a perception point. It is understood that the first communication device is a transmitting device or transmitting end, and the second communication device is a receiving device or receiving end. For example, the first communication device is a terminal device, and the second communication device is a network device, and compressed information is transmitted over the air interface. Another example is when the first communication device is a terminal device and the second communication device is also a terminal device, and compressed information is transmitted over a sidelink. The following describes in detail the implementation steps S301 to S304 of this method.

[0091] S301: A first communication device obtains three-dimensional coordinate information of N sensing points.

[0092] The three-dimensional coordinate information of the N sensing points is obtained by sensing the first environment space. For example, the first communication device has a sensing function and senses the first environment space to obtain the three-dimensional coordinate information of the N sensing points. In another example, the sensing device senses the first environment space to obtain the three-dimensional coordinate information of the N sensing points, and the first communication device obtains the three-dimensional coordinate information of the N sensing points from the sensing device.

[0093] It is understandable that the first environmental space can be an actual geographical area, such as a geographical area containing one or more objects (such as buildings, vehicles), or a geographical area classified as a residential area, a business district, a park, etc. For the case where the first environmental space contains an object, the first environmental space can also be understood as the object, and the N perception points can include the vertices on the object. For the case where the first environmental space includes multiple objects, the N perception points can include the vertices of one or more objects among the multiple objects. In addition, the first environmental space can also be a virtual area such as a 3D game, a VR model or other three-dimensional modeling. The above is an example of the first environmental space. In actual application, the first environmental space can also be other three-dimensional areas, and the embodiments of the present application do not limit this.

[0094] In a first possible design, the range parameters of the first environmental space may be protocol-defined or pre-configured. In a second possible design, the first communication device may define or select the range parameters of the first environmental space by itself, and indicate the range parameters of the first environmental space to other communication devices. In a third possible design, the first communication device may receive the range parameters of the first environmental space indicated by other communication devices, and determine the first environmental space based on the received range parameters of the first environmental space. Exemplarily, the range parameters of the first environmental space may include the geographical area range corresponding to the first environmental space, the altitude range where the first environmental space is located, or other parameters, which are not limited in the embodiments of the present application.

[0095] S302: The first communication device determines the two-dimensional coordinate information of M projection points obtained by projecting the three-dimensional coordinate information of N perception points onto a two-dimensional plane.

[0096] In one possible design, a local policy preconfigured in the first communication device indicates that the three-dimensional coordinate information of the plurality of sensing points is selectively projected onto one or more two-dimensional planes. The two-dimensional planes are represented by one or more of the following: a plane coordinate system (e.g., XOY, XOZ, YOZ); a plane normal vector And the coordinates of a point on the two-dimensional plane; plane expression f(x): Ax+By+Cz+D=0; coordinates of multiple points on the two-dimensional plane; three rotation angles and translation vectors of the two-dimensional plane and the reference coordinate axis.

[0097] For example, the local policy indicates that the vertices on an object are projected onto a two-dimensional plane, and different objects correspond to different two-dimensional planes. In this case, the N perception points are vertices on the same object, or the N perception points are contained in the same object. For example, the local policy indicates that the vertices on multiple objects are projected onto a two-dimensional plane, and the N perception points include the vertices on the multiple objects. For another example, the local policy indicates that the vertices on R objects are projected onto S two-dimensional planes, where R is an integer greater than 1 and S is a positive integer less than or equal to R. Then, when there are multiple objects among the R objects whose vertices are projected onto one of the S two-dimensional planes, the N perception points include the vertices on the R objects; or when there is one object among the R objects that is projected onto one of the S two-dimensional planes, the N perception points include the vertices on the one object.

[0098] Optionally, the first communication device may also send the parameters of the aforementioned two-dimensional plane used for projection to the second communication device, so that the second communication device can determine the two-dimensional plane where the M projection points are located.

[0099] In another possible design, the second communication device may configure at least one two-dimensional plane to the first communication device to instruct the first communication device to project the acquired vertices on one or more objects onto at least one two-dimensional plane configured by the second communication device. For example, before S301, the second communication device sends parameters for determining the two-dimensional plane to the first communication device. The parameters for determining the two-dimensional plane can be understood with reference to the representation of the two-dimensional plane in the aforementioned possible design. For example, the representation of the two-dimensional plane is the plane expression f(x): Ax+By+Cz+D=0, then the parameters for determining the two-dimensional plane include coefficients A, B, C, and D. The parameters for determining the three-dimensional area include the height range of the three-dimensional area, the parameters of the three-dimensional space coordinate system, or other parameters.

[0100] The first communication device projects the three-dimensional coordinate information of N perception points onto the aforementioned two-dimensional plane to obtain the two-dimensional coordinate information of M projection points. In one possible case, the three-dimensional coordinate information of at least two perception points among the N perception points is projected onto the two-dimensional plane to obtain the two-dimensional coordinate information of the same projection point, then M is a positive integer less than N, and N is a positive integer. In another possible case, the three-dimensional coordinate information of different perception points among the N perception points is projected onto the two-dimensional plane to obtain the two-dimensional coordinate information of different projection points, then M is equal to N. It can be understood that each of the M projection points corresponds to at least one perception point among the N perception points. Taking the XOY plane as an example, if the values ​​of {x, y} in the three-dimensional coordinate information {x, y, z} of two perception points are the same, then the two-dimensional coordinate information of the projection points corresponding to the three-dimensional coordinate information of the two perception points on the XOY plane are the same, for example, the perception point Z in Figure 411 and Z 12 In the XOY plane, the same projection point is corresponding to the perception point Z. k1 and Z k3 Corresponding to the same projection point in the XOY plane.

[0101] S303: The first communication device sends first information to the second communication device.

[0102] The first information is used to indicate the two-dimensional coordinate information of the M projection points and the distance information between the N perception points and the two-dimensional plane. The content of the first information can be understood by referring to the following introductions (1) to (3).

[0103] (1) The first information indicates the two-dimensional coordinate information of each projection point among the M projection points.

[0104] In a possible implementation, the first information includes two-dimensional coordinate information of each projection point among the M projection points.

[0105] In another possible implementation, the first communication device may determine the compression information corresponding to the two-dimensional coordinate information of the M projection points based on at least one set of compression boundary parameters, and then include the compression information corresponding to the two-dimensional coordinate information of the M projection points in the first information.

[0106] Optionally, the two-dimensional coordinate information is expressed as (first coordinate, second coordinate), and a set of compression boundary parameters includes a first lower compression boundary value and a first upper compression boundary value corresponding to the first coordinate, and a second lower compression boundary value and a second upper compression boundary value corresponding to the second coordinate. The first lower compression boundary value is smaller than the first upper compression boundary value, and the second lower compression boundary value is smaller than the second upper compression boundary value. Taking the two-dimensional plane as an XOY plane as an example, the first coordinate can be the X-axis coordinate, and the first lower compression boundary value and the first upper compression boundary value corresponding to the first coordinate are recorded as (x min , x max ), the second coordinate may be a Y-axis coordinate, and the second lower compression boundary value and the second upper compression boundary value corresponding to the second coordinate are recorded as (y min ,y max ).

[0107] In Example 1, the first communication device determines the compression information corresponding to the two-dimensional coordinate information of the M projection points based on the same set of compression boundary parameters. In the case where the two-dimensional plane is an XOY plane, (x min , x max )、(y min ,y max) are evenly divided into K intervals, the K intervals are represented as interval 0 to interval K-1, the indexes of the K intervals are recorded as 0 to K-1, and K is an integer greater than 1. For the mth projection point among the M projection points, if the two-dimensional coordinate information (x m ,y m ), x m Belong to (x min , x max ) in interval 3,y m Belong to (y min ,y max ), then the compressed information of the two-dimensional coordinate information corresponding to the m-th projection point is recorded as (3, 4).

[0108] In Example 2, the first communication device may cluster M projection points into V types of projection points, and different types of projection points in the V types of projection points correspond to different compression boundary parameters, and V is a positive integer less than or equal to M. For example, the first communication device may cluster some projection points with close distances among the M projection points into a type of projection points. The first communication device determines the compression information corresponding to the two-dimensional information of each projection point in the type of projection points based on a set of compression boundary parameters corresponding to the type of projection points. In the case where the two-dimensional plane is an XOY plane, the M projection points are clustered into V types of projection points, and each type of projection point corresponds to a set of compression boundary parameters: {(x min1 , x min2 ,…x minV ), (x max1 , x max2 ,…x maxV ), (y min1 ,y min2 ,…y minV ), (y max1 ,y max2 ,…y maxV )}. Among them, the set of compression boundary parameters corresponding to the first type of projection points in the V type projection points is {(x min1 , x max1 )、(y min1 ,y max1 )},(x min1 , x max1 )、(y min1 ,y max1 ) are evenly divided into K intervals, the K intervals are represented as interval 0 to interval K-1, the indexes of the K intervals are recorded as 0 to K-1, and K is an integer greater than 1. For any projection point in the first type of projection point, if the two-dimensional coordinate information (x, y) corresponding to the projection point, x belongs to (x min1 , x max1 ) in interval 2 of the K intervals, y belongs to (y min1,y max1 ), then the compressed information of the two-dimensional coordinate information corresponding to the projection point is recorded as (2, 3).

[0109] The configuration of the compression boundary parameters is described in detail below.

[0110] In a possible design, the multiple compression boundary values ​​corresponding to any one set of the above compression boundary parameters may be predefined.

[0111] In another possible design, the first communication device may determine at least one set of compression boundary parameters based on the two-dimensional coordinate information of the M projection points.

[0112] For example, in a scenario where the same set of compression boundary parameters is used to compress the two-dimensional coordinate information of M projection points, the first lower compression boundary value in the set of compression boundary parameters is the minimum value of the first coordinates of the M projection points, the first upper compression boundary value is the maximum value of the first coordinates of the M projection points, the second lower compression boundary value is the minimum value of the second coordinates of the M projection points, and the second upper compression boundary value is the maximum value of the second coordinates of the M projection points. For another example, in a scenario where M projection points are clustered into V types of projection points and each type of photographic point uses the same set of compression boundary parameters, the first lower compression boundary value in the set of compression boundary parameters corresponding to a type of projection point is the minimum value of the first coordinate of the type of projection point, the first upper compression boundary value is the maximum value of the first coordinate of the type of projection point, the second lower compression boundary value is the minimum value of the second coordinate of the type of projection point, and the second upper compression boundary value is the maximum value of the second coordinate of the type of projection point. In this design, when the first communication device reports the compressed information of the two-dimensional coordinate information of the M projection points, it also sends the at least one set of compression boundary parameters to the second communication device.

[0113] In a possible design, at least one set of compression boundary parameters may be configured in a residual form. For any set of compression boundary parameters described in the above examples or designs, the residual form refers to the first coordinate of at least one projection point corresponding to the same set of compression boundary parameters minus the first lower compression boundary value (x min ), the new first lower compression boundary value is 0, and the first upper compression boundary value is (x max -x min ), and the second coordinates of at least one projection point corresponding to the same set of compression boundary parameters are all subtracted from the second lower compression boundary value (y min ), the new second lower compression boundary value is 0, and the second upper compression boundary value is (y max -y min For example, in the example of compressing the two-dimensional coordinate information of M projection points using the same set of compression boundary parameters, the compression boundary parameters based on the residual form are updated to {(0, xmax -x min ), (0, y max -y min )}. For example, in the example of clustering M projection points into V types of projection points, each type of projection point corresponds to a set of compression boundary parameters: based on the residual form of compression boundary parameters update {0, (x max1 -x min1 , x max2 -x min2 ,…x maxV -x minV ), 0, (y max1 -y min1 ,y max2 -y min2 ,…y maxV -y minV )}. Accordingly, the compression boundary parameters introduced in the above examples 1 and 2 can be understood as compression boundary parameters based on absolute value form.

[0114] Furthermore, in the example of clustering M projection points into V types of projection points, each type of projection point corresponds to a set of compression boundary parameters: if the compression boundary parameters are updated based on the residual form so that the first upper compression boundary values ​​of the V groups of compression boundary parameters are close, such as the difference between each two first upper compression boundary values ​​in the V first upper compression boundary values ​​is less than the first threshold, in this case, (x max1 -x min1 , x max2 -x min2 ,…x maxV -x minV ) such as (x max2 -x min2 ), as the common first compression boundary value of the V groups of compression boundary parameters. If the compression boundary parameters are updated based on the residual form so that the second upper compression boundary values ​​of the V groups of compression boundary parameters are close, such as the difference between each two second upper compression boundary values ​​in the V second upper compression boundary values ​​is less than the second threshold, in this case, (y max1 -y min1 ,y max2 -y min2 ,…y maxV -y minV ) such as (y max1 -y min1 ), as the second compression boundary value common to the V group of compression boundary parameters. This design can simplify the compression boundary parameters and reduce transmission overhead.

[0115] Similarly, if the compression boundary parameters are updated based on the residual form so that the V groups of compression boundary parameters can be further divided into U subclasses, U is an integer less than V and greater than 1, and each of the U subclasses includes at least one group of compression boundary parameters from the V groups of compression boundary parameters. If the first upper compression boundary values ​​of multiple groups of compression boundary parameters in the same subclass are close, in this case, the multiple groups of compression boundary parameters in the same subclass can share the same first upper compression boundary value. For example, the first upper compression boundary values ​​of multiple groups of compression boundary parameters in a subclass include (x max1 -x min1 , x max2 -x min2 , x max3 -x min3 ), in x max1 -x min1 、x max2 -x min2 and x max3 -x min3 When the difference between them is less than the first threshold, the maximum value thereof can be used, for example (x max1 -x min1 ), as the common first compression boundary value of the three groups of compression boundary parameters in this subclass. The second upper compression boundary values ​​of multiple groups of compression boundary parameters in the same subclass are close. In this case, multiple groups of compression boundary parameters in the same subclass can share the same second upper compression boundary value. For example, the first upper compression boundary values ​​of multiple groups of compression boundary parameters in a subclass include (y max1 -y min1 ,y max2 -y min2 ,y max3 -y min3 ), in (y max1 -y min1 、y max2 -y min2 and y max3 -y min3 When the difference between them is less than the second threshold, the maximum value thereof can be used, for example (y max2 -y min2 ), as the second compression boundary value common to the three groups of compression boundary parameters in this subclass.

[0116] In addition, in a possible implementation, before executing S303, the first communication device receives second information sent by the second communication device, where the second information indicates the type (or form) of at least one group of compression boundary parameters, and the type of the compression boundary parameters is a compression boundary parameter based on an absolute value form or a compression boundary parameter based on a residual form; then, the first communication device determines the at least one compression boundary parameter based on the second information and the two-dimensional coordinate information of the M projection points. For example, in the case where the second information indicates that the type of at least one group of compression boundary parameters is a compression boundary parameter based on an absolute value form, the first communication device may determine the compression boundary parameters according to the description in Example 1 or Example 2. For another example, in the case where the second information indicates that the type of at least one group of compression boundary parameters is a compression boundary parameter based on a residual form, the first communication device may determine the compression boundary parameters according to the description in Example 1 or Example 2, and update the compression boundary parameters based on the residual form.

[0117] (2) The first information includes the number of perception points corresponding to each of the M projection points.

[0118] For example, the first information includes a first sequence, which includes M numerical values, respectively corresponding to the number of perception points corresponding to each projection point in the M projection points.

[0119] In one possible design, the M numerical values ​​in the first sequence are randomly arranged, or it can also be understood that the M projection points are randomly arranged. For example, if M is 4, the indexes of the M projection points are recorded as {0, 1, 2, 3}, and the corresponding numbers of perception points are 2, 1, 3, 2, then the first sequence is {2, 1, 3, 2}. In another possible design, the M numerical values ​​in the first sequence are arranged in order from small to large or from large to small. For example, if M is 4, if the indexes of the M projection points are recorded as {0, 1, 2, 3}, and the corresponding numbers of perception points are 2, 1, 3, 2, the M projection points are sorted according to the corresponding number of perception points, and the index order is updated to {1, 0, 2, 3}, and the first sequence is {1, 2, 2, 3}. When the first information is transmitted using entropy coding quantization, such a sorting design helps to improve the efficiency of entropy coding.

[0120] (3) The first information includes distance information between N perception points and the two-dimensional plane.

[0121] Format 1: The first information includes M sets, the M sets correspond to the M projection points one by one, the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets indicates the I m The distance information between the sensing point and the two-dimensional plane.

[0122] Wherein, m is an integer from 1 to M, I m is a positive integer. The mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

[0123] Taking the XOY plane as an example, the distance between a perception point corresponding to a projection point and the two-dimensional plane can be understood as the z-axis coordinate of the perception point. The mth set includes I m The z-axis coordinates of the sensing points, the mth set can be recorded as {z 1m ,z 2m ,…,z Imm In one possible implementation, the first communication device combines M sets into a second sequence, and adds the second sequence to the first information to achieve transmission of the M sets. Taking the XOY plane as an example, the second sequence can be expressed as {z 11 ,z 21 ,…,z I11 , z 12 ,z 22 ,…,z I22 ,…z 1m ,z 2m ,…,z Imm ,…z 1M ,z 2M ,…,z IMM Accordingly, the second communication device may determine distance information between the perception point corresponding to each of the M projection points and the two-dimensional plane according to the first sequence and the second sequence.

[0124] Format 2: The first information includes M sets, the M sets correspond to the M projection points one by one, and the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets indicates the I m The distance information between the sensing point and the two-dimensional plane.

[0125] Wherein, m is an integer from 1 to M, I m is a positive integer greater than 2. The m-th set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I mThe i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

[0126] Optionally, the i-th proportional coefficient ri can be determined by referring to the following formula:

[0127] The two-dimensional plane is the XOY plane, I m Taking 3 as an example, the distance between a perception point corresponding to a projection point and the two-dimensional plane can be understood as the z-axis coordinate of the perception point. The mth set includes 3 elements, and the mth set can be recorded as

[0128] In format three, the first information further includes P sets, where the pth set among the P sets includes distance information between the pth perception point corresponding to the jth projection point among the J projection points and the two-dimensional plane. Wherein, j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P. The value of P is determined based on the number of perception points corresponding to the first projection point among the M projection points, where the number of perception points corresponding to the first projection point among the M projection points is the largest.

[0129] Taking the XOY plane as an example, the distance between a projection point and a perception point can be understood as the z-axis coordinate of the perception point. The p-th set includes P z-axis coordinates. The p-th set can be recorded as {z 1p ,z 2p ,…,z Jp In addition, it can be understood that there are cases where the number of some projection points I among the M projection points is less than P. For such cases, when p>I, the distance information related to these projection points is not included in the p-th set.

[0130] In one possible implementation, the first communication device combines P sets into a third sequence, and adds the third sequence to the first information to achieve transmission of the P sets. Taking the two-dimensional plane as the XOY plane and M as 4 as an example, the number of perception points corresponding to the four projection points is {1, 2, 2, 3}, then P is 3. Among the three sets, the first set includes 4 distance information, the second set includes 3 distance information, and the third set includes 1 distance information. The third sequence can be expressed as {z 11 ,z 21 ,z 31 ,z 41 , z 22 ,z 32 ,z 42 , z43}.

[0131] Optionally, if the distance information between the p-th perception point and the two-dimensional plane corresponding to each projection point in the J projection points is the same, the p-th set only needs to include one distance information, such as z 11 ,z 21 ,z 31 ,z 41 Similarly, the third sequence can be expressed as {z 11 ,z 22 ,z 32 ,z 42 ,z 43 This design can reduce air interface transmission volume and thus reduce air interface overhead.

[0132] In actual implementation, the first communication device can select one of the aforementioned formats one to three to determine one or more sets in the first information in accordance with the protocol agreement or pre-configured local policy; or, the first communication device can receive third information sent by the second communication device before sending the first information, and the third information is used to indicate the format of the set, and the first communication device determines one or more sets in the first information based on the third information.

[0133] S304: The second communication device determines the three-dimensional coordinate information of N perception points based on the first information.

[0134] In which, the second communication device can determine the two-dimensional coordinate information of M projection points and the distance information between N perception points and the two-dimensional plane based on the first information, and then determine the three-dimensional coordinate information of N perception points based on the two-dimensional coordinate information of M projection points and the distance information between N perception points and the two-dimensional plane.

[0135] In a possible implementation, the second communication device may also restore or reconstruct the aforementioned first environment space based on the three-dimensional coordinate information of the N sensing points.

[0136] In the method provided in the embodiments of the present application, a terminal device converts the three-dimensional coordinate information of a sensing point into the position information of a two-dimensional projection point through projection, and then compresses and transmits it, thereby reducing transmission overhead. Applied to air interface transmission, this method can reduce the amount of data transmitted over the air interface and lower air interface overhead.

[0137] The following embodiment of the present application also provides a solution for compressing polygon edge data.

[0138] First, the terminal device traverses multiple objects in the three-dimensional region based on the connectivity between vertices. For example, Figure 5 shows a three-dimensional region with vertices indexed {0-19}. The terminal device traverses these vertices in ascending order of index until it reaches vertex index 9 and finds that there is no connectivity between vertex index 9 and vertex index 10. It can then determine that the vertices with indices {0-9} are vertices on object 1, and the vertices with indices {10-19} are vertices on object 2, thus obtaining two objects in the three-dimensional region.

[0139] Then, the terminal device can update the vertex index of each traversed object with 0 as the starting value, and obtain the vertex index on object 1 as {0-9}, and the vertex index on object 2 as {0-9}. The terminal device uses the updated vertex index to represent the edge data, and obtains the edge data of object 1 and the edge data of object 2. The edge data of object 1 includes {(0,1,2,3,4),(0,4,5,9),(0,1,5),(1,5,6),(3,4,9,8),(2,3,8,7),(1,2,7,6),(5,6,7,8,9)}, and the edge data of object 2 includes {(0,1,2,3,4),(0,1,6,5),(0,4,5,9),(3,4,9,8),(2,3,8,7),(1,2,7,6),(5,6,7,8,9)}.

[0140] Finally, the terminal device can use entropy coding or other quantization coding methods to send quantization information of the edge data to the network device.

[0141] The above method provided in the embodiment of the present application independently sets vertex indexes for different objects, which is convenient for reducing the compression calculation amount of edge data, can reduce the amount of data transmitted over the air interface, and reduce air interface overhead.

[0142] Based on the same concept, referring to FIG6 , an embodiment of the present application provides a communication device 600, which includes a processing module 601 and a communication module 602. The communication device 600 can be a first communication device, or a communication device applied to or used in conjunction with a first communication device, capable of implementing a communication method executed on the first communication device side; alternatively, the communication device 600 can be a second communication device, or a communication device applied to or used in conjunction with a second communication device, capable of implementing a communication method executed on the second communication device side.

[0143] The communication module may also be referred to as a transceiver module, transceiver, transceiver, or transceiver device. The processing module may also be referred to as a processor, processing board, processing unit, or processing device. Optionally, the communication module is used to perform the sending and receiving operations on the first communication device side or the second communication device side in the above method. The device in the communication module that implements the receiving function can be considered a receiving unit, and the device in the communication module that implements the sending function can be considered a sending unit. That is, the communication module includes a receiving unit and a sending unit.

[0144] When the communication device 600 is applied to a first communication device, the processing module 601 can be used to implement the processing functions of the first communication device in the embodiment shown in FIG3 , and the communication module 602 can be used to implement the transceiver functions of the first communication device in the embodiment shown in FIG3 . Alternatively, the communication device can be understood with reference to the third aspect and possible designs of the third aspect in the Summary of the Invention.

[0145] When the communication device 600 is applied to a second communication device, the processing module 601 can be used to implement the processing functions of the second communication device in the embodiment shown in FIG3 , and the communication module 602 can be used to implement the transceiver functions of the second communication device in the embodiment shown in FIG3 . Alternatively, the communication device can also be understood with reference to the fourth aspect and possible designs of the fourth aspect in the Summary of the Invention.

[0146] In addition, it should be noted that the aforementioned communication module and / or processing module can be implemented through virtual modules, for example, the processing module can be implemented through a software functional unit or a virtual device, and the communication module can be implemented through a software function or a virtual device. Alternatively, the processing module or the communication module can also be implemented through a physical device. For example, if the communication device is implemented using a chip / chip circuit, the communication module can be an input / output circuit and / or a communication interface that performs input operations (corresponding to the aforementioned receiving operations) and output operations (corresponding to the aforementioned sending operations); the processing module is an integrated processor, microprocessor, or integrated circuit.

[0147] The division of modules in the embodiments of the present application is illustrative and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of the present application may be integrated into a single processor, or may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0148] Based on the same technical concept, the embodiment of the present application further provides a communication device 700. For example, the communication device 700 can be a chip or a chip system. Optionally, in the embodiment of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0149] The communication device 700 can be used to implement the functions of any network element in the communication system described in the aforementioned embodiments. The communication device 700 may include at least one processor 710, which is coupled to a memory. Optionally, the memory may be located within the communication device, the memory may be integrated with the processor, or the memory may be located outside the communication device. For example, the communication device 700 may also include at least one memory 720. The memory 720 stores the necessary computer programs, computer programs or instructions and / or data for implementing any of the aforementioned embodiments; the processor 710 may execute the computer program stored in the memory 720 to complete the method in any of the aforementioned embodiments.

[0150] The communication device 700 may also include a communication interface 730, and the communication device 700 may exchange information with other devices through the communication interface 730. Exemplarily, the communication interface 730 may be a transceiver, a circuit, a bus, a module, a pin, or other types of communication interfaces. When the communication device 700 is a chip-type device or circuit, the communication interface 730 in the communication device 700 may also be an input-output circuit that can input information (or receive information) and output information (or send information). The processor is an integrated processor or microprocessor or integrated circuit or logic circuit, and the processor can determine output information based on the input information.

[0151] The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information exchange between devices, units, or modules. The processor 710 may operate in conjunction with the memory 720 and the communication interface 730. The specific connection medium between the processor 710, memory 720, and communication interface 730 is not limited in the embodiments of the present application.

[0152] Optionally, referring to FIG7 , the processor 710, the memory 720, and the communication interface 730 are interconnected via a bus 740. The bus 740 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, FIG7 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0153] In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0154] In an embodiment of the present application, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application may also be a circuit or any other device that can implement a storage function, for storing program instructions and / or data.

[0155] In one possible implementation, the communication device 700 can be applied to a second communication device. Specifically, the communication device 700 can be a second communication device, or a device that can support the second communication device and implement the functions of the second communication device in any of the above-mentioned embodiments. The memory 720 stores computer programs (or instructions) and / or data that implement the functions of the second communication device in any of the above-mentioned embodiments. The processor 710 can execute the computer program stored in the memory 720 to complete the method performed by the second communication device in any of the above-mentioned embodiments. Applied to the second communication device, the communication interface in the communication device 700 can be used to interact with the first communication device, send information to the first communication device, or receive information from the first communication device.

[0156] In another possible implementation, the communication device 700 can be applied to a first communication device. Specifically, the communication device 700 can be a first communication device, or a device that can support the first communication device and implement the functions of the first communication device in any of the above-mentioned embodiments. The memory 720 stores a computer program (or instruction) and / or data that implements the functions of the first communication device in any of the above-mentioned embodiments. The processor 710 can execute the computer program stored in the memory 720 to complete the method performed by the first communication device in any of the above-mentioned embodiments. Applied to the first communication device, the communication interface in the communication device 700 can be used to interact with the second communication device, send information to the second communication device, or receive information from the second communication device.

[0157] Since the communication apparatus 700 provided in this embodiment can be applied to a second communication device to perform the method performed by the second communication device, or applied to a first communication device to perform the method performed by the first communication device, the technical effects that can be achieved can be referred to the above method examples and will not be described in detail here.

[0158] Based on the above embodiments, an embodiment of the present application provides a communication system, including a second communication device and a first communication device, wherein the second communication device and the first communication device can implement the method provided in the embodiment shown in Figure 3.

[0159] The technical solutions provided in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a first communication device, a second communication device, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium.

[0160] In the embodiments of the present application, under the premise that there is no logical contradiction, the embodiments may reference each other, for example, the methods and / or terms between method embodiments may reference each other, for example, the functions and / or terms between device embodiments may reference each other, for example, the functions and / or terms between device embodiments and method embodiments may reference each other.

[0161] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the embodiments of the present application and their equivalents, the embodiments of the present application are intended to include these modifications and variations.

Claims

1. A communication method, characterized in that: Applied to a first communication device, comprising: Acquire three-dimensional coordinate information of N perception points, where the three-dimensional coordinate information of the N perception points is obtained by sensing the first environment space, and N is a positive integer; Send first information to the second communication device, where the first information is used to indicate the distance information between the N perception points and the two-dimensional plane and the two-dimensional coordinate information of the M projection points; wherein the two-dimensional coordinate information of the M projection points is obtained by projecting the three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and M is a positive integer less than or equal to N.

2. The method according to claim 1, wherein The first information includes the two-dimensional coordinate information of the M projection points; or, the first information includes compression information corresponding to the two-dimensional coordinate information of the M projection points, and the compression information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter.

3. The method according to claim 2, wherein Also includes: receiving second information indicating a type of the at least one compression boundary parameter; The at least one compression boundary parameter is determined according to the second information and the two-dimensional coordinate information of the M projection points.

4. The method according to any one of claims 1 to 3, wherein The first information also includes M sets, the M sets correspond to the M projection points one by one, the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

5. The method according to claim 4, wherein The mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

6. The method according to claim 4, wherein If I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I m The i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

7. The method according to any one of claims 1 to 3, wherein: The first information also includes P sets, and the pth set in the P sets includes distance information between the pth perception point corresponding to the jth projection point in the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P. The value of P is determined based on the number of perception points corresponding to the first projection point in the M projection points, and the number of perception points corresponding to the first projection point in the M projection points is the largest.

8. The method according to any one of claims 4 to 7, wherein: The first information also includes the number of perception points corresponding to each of the M projection points.

9. The method according to any one of claims 4 to 8, wherein: Also includes: receiving third information, where the third information is used to indicate a format of the set; One or more sets of the first information are determined based on the third information.

10. The method according to any one of claims 1 to 9, wherein Also includes: sending parameters for determining the two-dimensional plane to the second communication device; or, Parameters for determining the two-dimensional plane are received from the second communication device.

11. A communication method, characterized in that: Applied to a second communication device, comprising: Receive first information from a first communication device, the first information being used to indicate distance information between N perception points and a two-dimensional plane and two-dimensional coordinate information of M projection points; wherein the two-dimensional coordinate information of the M projection points is obtained by projecting three-dimensional coordinate information of the N perception points onto the two-dimensional plane, and the three-dimensional coordinate information of the N perception points is obtained by sensing a first environment space, wherein N is a positive integer, and M is a positive integer less than or equal to N; Based on the first information, the three-dimensional coordinate information of the N perception points is determined, and the three-dimensional coordinate information of the N perception points is used to restore the first environment space.

12. The method according to claim 11, wherein The first information includes the two-dimensional coordinate information of the M projection points; or, the first information includes compression information corresponding to the two-dimensional coordinate information of the M projection points, and the compression information corresponding to the M two-dimensional coordinate information is determined based on at least one compression boundary parameter.

13. The method according to claim 12, wherein: Also includes: Second information is sent to the first communication device, where the second information is used to indicate a type of the at least one compression boundary parameter.

14. The method according to any one of claims 11 to 13, wherein: The first information also includes M sets, the M sets correspond to the M projection points one by one, the mth projection point in the M projection points corresponds to the Ith perception point in the N perception points. m The mth set in the M sets includes the I m The distance information between the sensing point and the two-dimensional plane; wherein, m is an integer from 1 to M, and I m Is a positive integer.

15. The method according to claim 14, wherein The mth set includes I m distance value, the I m One of the distance values ​​indicates the I m The distance between one of the perception points and the two-dimensional plane.

16. The method according to claim 14, wherein If I m >2, the mth set includes the I m The first distance value between the first perception point among the perception points and the two-dimensional plane, I m -2 proportional coefficients, and the I m The first of the perception points m A second distance value between a sensing point and the two-dimensional plane; wherein the I m The i-th proportional coefficient of the -2 proportional coefficients is determined based on the first distance value, the second distance value, and the third distance value between the i+1-th perception point corresponding to the m-th projection point and the two-dimensional plane, and i is less than or equal to I m A positive integer from -2.

17. The method according to any one of claims 11 to 13, wherein: The first information also includes P sets, and the pth set in the P sets includes distance information between the pth perception point corresponding to the jth projection point in the J projection points and the two-dimensional plane; wherein j is an integer from 1 to J, J is a positive integer less than or equal to M, P is a positive integer, and p is an integer from 1 to P. The value of P is determined based on the number of perception points corresponding to the first projection point in the M projection points, and the number of perception points corresponding to the first projection point in the M projection points is the largest.

18. The method according to any one of claims 14 to 17, wherein: The first information also includes the number of perception points corresponding to each of the M projection points.

19. The method according to any one of claims 14 to 18, wherein: Also includes: Third information is sent to the first communication device, where the third information is used to indicate a format of the set.

20. The method according to any one of claims 11 to 19, wherein: Also includes: receiving parameters for determining the two-dimensional plane from the first communication device; or, Parameters for determining the two-dimensional plane are sent to the first communication device.

21. A communication device, characterized in that: The method comprises modules for executing the method according to any one of claims 1 to 10.

22. A communication device, characterized in that: The method comprises means for executing the method according to any one of claims 11 to 20.

23. A communication system, characterized in that: The invention comprises a communication device for executing the method according to any one of claims 1 to 10, and a communication device for executing the method according to any one of claims 11 to 20.

24. A communication device, characterized in that: include: A processor, the processor being coupled to a memory, and the processor being configured to call computer program instructions stored in the memory to execute the method according to any one of claims 1 to 20.

25. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 20.

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