Density information transmission method and apparatus

Abstract

A density information transmission method and an apparatus, which are used for reducing transmission resources required for transmitting distribution information between two communication nodes. In the present application, the method comprises: a sending end determines density information, wherein the density information comprises a sensing data format and distribution information of first scattering points in an N-dimensional space in an M-dimensional space, the sensing data format being used for indicating the format of the distribution information of the first scattering points in the M-dimensional space, M and N both being positive integers, and N being greater than M; and the sending end sends the density information to a receiving end, and correspondingly the receiving end receives the density information from the sending end.

Description

Density information transmission 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 April 1, 2024, with application number 202410399010.0 and invention name "A method and device for transmitting density information", the entire contents of which are incorporated by reference into this application. Technical Field

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

[0004] Perception, also known as wireless sensing, involves emitting electromagnetic energy into space. By receiving radio waves reflected from objects within that space, information about those objects can be calculated. This information can include parameters such as location, direction, altitude, speed, size, and path, as well as the internal and external shape and structure of objects. By exploring the transmission, echo, reflection, and scattering of radio waves, we can perceive and better understand the physical world.

[0005] Communication nodes typically transmit information about the distribution of scattering points in the perception space (e.g., scattering point coordinates, scattering point distribution density in the perception space, etc.) for use in perceiving and calculating the perception space. For example, a base station sends the coordinates of a scattering point to a UE, which then performs perceiving and calculating the perception space based on the coordinates. Another example is when an SMF sends the coordinates of a scattering point to a base station, the base station can send the coordinates of the scattering point to the UE or store them.

[0006] How to reduce the transmission resources required for transmitting distributed information between two communication nodes is a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The present application provides a density information transmission method and apparatus for reducing the transmission resources required to transmit distribution information between two communication nodes.

[0008] In a first aspect, the present application provides a density information transmission method, which can be interactively executed by a sending end and a receiving end.

[0009] The transmitting end is a communication node for transmitting density information, and the receiving end is a communication node for receiving density information, wherein the density information includes distribution information of scattering points in the sensing space.

[0010] In this application, the functions of the transmitting end may also be performed by a module (such as a chip) in the transmitting end, or by a control subsystem that includes the functions of the transmitting end. For example, when the transmitting end is a base station, the control subsystem that includes the base station functions may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the receiving end may also be performed by a module (such as a chip) in the receiving end, or by a device that includes the functions of the receiving end.

[0011] Furthermore, when the function of the transmitting end is performed by a module in the transmitting end, the module can send information (such as density information) to other modules in the transmitting end (such as the RF module or antenna), and the information is sent by the transmitting end to the receiving end; of course, the module can also receive information (such as density information request) from other modules (such as the RF module or antenna), and the information is sent by the receiving end to the transmitting end.

[0012] When the function of the receiving end is performed by a module in the receiving end, the module can receive information (such as density information) from other modules (such as the RF module or antenna), and the information is sent by the transmitting end to the receiving end; of course, the module can also send information (such as density information request) to other modules (such as the RF module or antenna) in the receiving end, and the information is sent by the receiving end to the transmitting end.

[0013] For the convenience of description, the following description takes the sending end and the receiving end as examples.

[0014] The method includes: a transmitting end determining density information, wherein the density information includes a perception data format and distribution information of a first scattering point in an N-dimensional space in an M-dimensional space, the perception data format being used to indicate a format of the distribution information of the first scattering point in the M-dimensional space, where M and N are both positive integers, and N is greater than M. The transmitting end sends the density information to a receiving end, and the receiving end receives the density information from the transmitting end.

[0015] In the above technical solution, when the transmitting end sends density information to the receiving end, the density information specifically carries the distribution information of the first scattering point in the M-dimensional space, without having to carry the distribution information of the first scattering point in the N-dimensional space. The data volume of the distribution information of the first scattering point in the M-dimensional space is smaller than the data volume of the distribution information of the first scattering point in the N-dimensional space, which helps to reduce the transmission resources required for transmitting the distribution information (i.e., density information) between the transmitting end and the receiving end.

[0016] In one possible implementation, the N-dimensional space includes first scattering points, and the number of the first scattering points is I, where I is a positive integer greater than 1. When determining density information, the transmitter may specifically determine distribution information of the first scattering points in the M-dimensional space based on the distribution information of the first scattering points in the N-dimensional space, and then determine density information based on the distribution information of the first scattering points in the M-dimensional space. Exemplarily, the transmitter compresses (or reduces the dimensionality of) the distribution information of the first scattering points in the N-dimensional space to obtain the distribution information of the first scattering points in the M-dimensional space. This process may further include the transmitter compressing (or reducing the dimensionality of) the N-dimensional space to obtain the M-dimensional space.

[0017] In the above technical solution, a method for implementing the transmission end to determine the distribution information of the first scattering point in the M-dimensional space is provided.

[0018] In a possible implementation, the density information also includes a perception data dimension, and the perception data dimension is used to indicate an M-dimensional space.

[0019] In the above technical solution, after receiving the density information, the receiving end can first parse the density information to obtain the perception data dimension, and then parse the density information according to the perception data dimension to obtain the distribution information, which helps the receiving end to quickly parse the distribution information.

[0020] In a possible implementation, when the perception data dimension is a first value, the perception data dimension is used to indicate an N-dimensional space; when the perception data dimension is a second value, the perception data dimension is used to indicate an M-dimensional space.

[0021] In the above technical solution, the value of the perception data dimension is the first value or the second value, which is used to indicate N-dimensional space or M-dimensional space, which helps to reduce the amount of data occupied by the perception data dimension and thus reduce the amount of data occupied by density information.

[0022] In one possible implementation, the M-dimensional space includes an M-dimensional subspace, and the M-dimensional subspace corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer. The distribution information of the first scattering point in the M-dimensional space includes the distribution information of the first scattering point in the M-dimensional subspace. The distribution information of the first scattering point in the M-dimensional subspace is in one of the following three formats:

[0023] Format 1: third value or fourth value. The third value indicates that the number of non-empty subspaces is greater than 0, and the fourth value indicates that the number of non-empty subspaces is equal to 0. This helps minimize the amount of data occupied by distribution information, that is, minimize the amount of data occupied by density information.

[0024] Format 2, the number of non-empty subspaces. Compared to format 1, the distribution information corresponding to format 2 can more accurately express the distribution of the first scattering point in N-dimensional space, which helps improve the accuracy of subsequent perception processes.

[0025] Format 3: The position of the non-empty subspace in the K N-dimensional subspaces. Compared with format 2, the distribution information corresponding to format 3 can more accurately express the distribution of the first scattering point in the N-dimensional space, which helps improve the accuracy of subsequent perception processes.

[0026] The non-empty subspace is an N-dimensional subspace including the first scattering point among the K N-dimensional subspaces.

[0027] In a possible implementation, before determining the density information, the transmitting end may also have the following example:

[0028] In Example a, the transmitter determines that the transmission resources do not meet the transmission requirements, where the transmission requirements are determined based on the distribution information of the first scattering points in the N-dimensional space. In this way, when the transmission resources are limited, the transmission density information is transmitted between the transmitter and the receiver.

[0029] In Example b, the transmitter determines M dimensions based on the correspondence between the perception task and dimensions. In this technical solution, considering that some perception tasks have low requirements for the perception of scattering points along a certain dimension, or that the scattering points along a certain dimension in some perception spaces are highly continuous, it is not necessary to transmit the distribution information of the scattering points along this dimension in the density information. Determining M dimensions based on the characteristics of the perception task / perception space and then including the distribution information of the first scattering point along these M dimensions in the density information is more targeted.

[0030] In example c, the receiving end sends a density information request to the sending end, and in response, the sending end receives the density information request from the receiving end, where the density information request is used to indicate M dimensions. This helps meet the needs of the receiving end.

[0031] In one possible implementation, the N-dimensional space is a three-dimensional space corresponding to the x-axis, y-axis, and z-axis, and the M-dimensional space is a two-dimensional space corresponding to the x-axis and y-axis. In the above technical solution, considering scenarios where the perception task has low requirements for the perception of scattering points on the z-axis, or scenarios where the scattering points in the perception space are highly continuous on the z-axis, the transmitter can only send the distribution information of the first scattering point on the horizontal plane formed by the x-axis and y-axis to the receiver, without carrying the distribution information of the first scattering point on the z-axis. This helps reduce the transmission resources required to transmit distribution information (i.e., density information) between the transmitter and receiver.

[0032] In one possible implementation, the receiving end performs perception calculation based on density information. In the above technical solution, which is applicable to scenarios where the receiving end performs perception calculation, the receiving end can perform perception calculation based on density information, which helps to improve the accuracy of perception calculation.

[0033] In one possible implementation, the transmitting end may further send a perception signal to the receiving end. The perception signal is scattered through a second scattering point when transmitted in an N-dimensional space. The distribution information of the perception signal and the first scattering point in the M-dimensional space is used to perform perception calculation on the second scattering point.

[0034] In the above technical solution, the receiving end can perform perception calculation based on the corresponding transmission parameters when the perception signal is transmitted in N-dimensional space (for example, the transmission delay, transmission angle, receiving angle, etc. of the perception signal) and density information, which helps to improve the accuracy of perception calculation.

[0035] In a second aspect, the present application provides a communication device having the function of a transmitting end in implementing the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0036] The device includes a processing module and a transceiver module. The processing module is configured to determine density information. The transceiver module is configured to transmit the density information. The density information includes a sensing data format and distribution information of a first scattering point in an N-dimensional space in an M-dimensional space. The sensing data format indicates the format of the distribution information of the first scattering point in the M-dimensional space. Both M and N are positive integers, and N is greater than M.

[0037] In a possible implementation, the density information also includes a perception data dimension; when the perception data dimension is a first value, the perception data dimension is used to indicate an N-dimensional space; when the perception data dimension is a second value, the perception data dimension is used to indicate an M-dimensional space.

[0038] In one possible implementation, the M-dimensional space includes an M-dimensional subspace, and the M-dimensional subspace corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer; the distribution information of the first scattering point in the M-dimensional space includes the distribution information of the first scattering point in the M-dimensional subspace; the distribution information of the first scattering point in the M-dimensional subspace is: a third value or a fourth value, wherein the third value is used to indicate that the number of non-empty subspaces is greater than 0, and the fourth value is used to indicate that the number of non-empty subspaces is equal to 0; or, the number of non-empty subspaces; or, the position of the non-empty subspace in the K N-dimensional subspaces; wherein the non-empty subspace is an N-dimensional subspace in the K N-dimensional subspaces that includes the first scattering point.

[0039] In one possible implementation, before the processing module determines the density information, the processing module is also used to determine that the transmission resources do not meet the transmission requirements, and the transmission requirements are determined based on the distribution information of the first scattering point in the N-dimensional space; or, the processing module is also used to determine M dimensions based on the correspondence between the perception task and the dimension; or, the transceiver module is also used to receive a density information request, and the density information request is used to indicate M dimensions.

[0040] In a possible implementation, the N-dimensional space is a three-dimensional space corresponding to the x-axis, the y-axis, and the z-axis, and the M-dimensional space is a two-dimensional space corresponding to the x-axis and the y-axis.

[0041] In one possible implementation, the transceiver module is further used to send a perception signal, which is scattered through a second scattering point when transmitted in an N-dimensional space. The distribution information of the perception signal and the first scattering point in the M-dimensional space is used to perform perception calculation on the second scattering point.

[0042] In a third aspect, the present application provides a communication device having the function of a receiving end in implementing the above-mentioned first aspect or any possible implementation method of the first aspect.

[0043] The device includes a processing module and a transceiver module. The transceiver module is configured to receive density information. The processing module is configured to perform perception calculations based on the density information. The density information includes a perception data format and distribution information of a first scattering point in an N-dimensional space in an M-dimensional space. The perception data format indicates the format of the distribution information of the first scattering point in the M-dimensional space. M and N are both positive integers, and N is greater than M.

[0044] In a possible implementation, the density information also includes a perception data dimension; when the perception data dimension is a first value, the perception data dimension is used to indicate an N-dimensional space; when the perception data dimension is a second value, the perception data dimension is used to indicate an M-dimensional space.

[0045] In one possible implementation, the M-dimensional space includes an M-dimensional subspace, and the M-dimensional subspace corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer; the distribution information of the first scattering point in the M-dimensional space includes the distribution information of the first scattering point in the M-dimensional subspace; the distribution information of the first scattering point in the M-dimensional subspace is: a third value or a fourth value, wherein the third value is used to indicate that the number of non-empty subspaces is greater than 0, and the fourth value is used to indicate that the number of non-empty subspaces is equal to 0; or, the number of non-empty subspaces; or, the position of the non-empty subspace in the K N-dimensional subspaces; wherein the non-empty subspace is an N-dimensional subspace in the K N-dimensional subspaces that includes the first scattering point.

[0046] In a possible implementation, before receiving the density information, the transceiver module is further configured to send a density information request, where the density information request is used to indicate M dimensions.

[0047] In a possible implementation, the N-dimensional space is a three-dimensional space corresponding to the x-axis, the y-axis, and the z-axis, and the M-dimensional space is a two-dimensional space corresponding to the x-axis and the y-axis.

[0048] In one possible implementation, the transceiver module is further configured to receive a perception signal, which is scattered by a second scattering point when transmitted in an N-dimensional space. Accordingly, when performing perception calculations based on the density information, the processing module is specifically configured to perform perception calculations on the second scattering point based on the perception signal and distribution information of the first scattering point in the M-dimensional space.

[0049] In a fourth aspect, the present application provides a communication device, which includes a processor and may also include a memory.

[0050] The processor is coupled to the memory and can be used to execute computer program instructions stored in the memory so that the device can implement the functions of the sending end or the receiving end in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0051] Optionally, the device further includes a communication interface, and the processor is coupled to the communication interface. When the device is a transmitter or receiver, the communication interface may be a transceiver or an input / output interface; when the device is a chip included in the transmitter or receiver, the communication interface may be the chip's input / output interface. Optionally, the transceiver may be a transceiver circuit, and the input / output interface may be an input / output circuit.

[0052] In a fifth aspect, an embodiment of the present application provides a chip system, including:

[0053] A processor and a memory, the processor is coupled to the memory, the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip system implements the function of the sending end in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the receiving end in the above-mentioned first aspect or any possible implementation of the first aspect.

[0054] Optionally, the chip system further includes an interface circuit for transmitting interactive code instructions to the processor.

[0055] Optionally, there may be one or more processors in the chip system, and the processor may be implemented in hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0056] Optionally, the memory in the chip system may be one or more. The memory may be integrated with the processor or provided separately from the processor. Exemplarily, the memory may be a non-transient processor, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or provided on different chips.

[0057] In a sixth aspect, an embodiment of the present application provides a chip system comprising a logic circuit and an input / output circuit, wherein the input / output circuit is used to communicate with other communication devices outside the chip system, and the logic circuit is used to perform the function of the transmitting end in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the receiving end in the above-mentioned first aspect or any possible implementation of the first aspect.

[0058] In the seventh aspect, the present application provides a computer-readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the sending end in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the receiving end in the above-mentioned first aspect or any possible implementation of the first aspect.

[0059] In an eighth aspect, the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a communication device, the communication device implements the function of the sending end in the above-mentioned first aspect or any possible implementation of the first aspect, or the function of the receiving end in the above-mentioned first aspect or any possible implementation of the first aspect.

[0060] In a ninth aspect, an embodiment of the present application provides a communication system, comprising the transmitting end in the above-mentioned first aspect or any possible implementation of the first aspect, and the receiving end in the above-mentioned first aspect or any possible implementation of the first aspect.

[0061] The technical effects that can be achieved in any of the second to ninth aspects mentioned above can refer to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] FIG1 is a schematic diagram of a communication system architecture provided by this application;

[0063] FIG2 is a schematic diagram of a scene in a single-base sensing mode provided by this application;

[0064] FIG3 is a schematic diagram of a scene in a dual-base sensing mode provided by the present application;

[0065] FIG4 is a schematic diagram of the architecture of a communication perception integrated system provided by the present application;

[0066] FIG5 is a schematic diagram of a transmitting end determining multiple sub-perception spaces according to a perception space provided by the present application;

[0067] FIG6 is a schematic diagram of a transmitter determining multiple sub-perception spaces based on a perception space in a specific scenario provided by the present application;

[0068] FIG7 is a flow chart of a density information transmission method provided by the present application;

[0069] FIG8 is a schematic diagram of the relationship between an N-dimensional space and an M-dimensional space provided by the present application;

[0070] FIG9 is a flow chart of a method provided by the present application for a transmitting end to determine second distribution information based on first distribution information;

[0071] FIG10 is a schematic diagram of a first transmitting end determining distribution information of a first scattering point in an M-dimensional subspace provided by the present application;

[0072] FIG11 is a schematic diagram of a second method provided by the present application for determining the distribution information of the first scattering point in the M-dimensional subspace by the transmitting end;

[0073] FIG12 is a schematic diagram of a third method provided by the present application for determining the distribution information of the first scattering point in the M-dimensional subspace by the transmitting end;

[0074] FIG13 is a flow chart of a method for a base station to send density information to a UE provided in the present application;

[0075] FIG14 is a flow chart of a method for a UE to send density information to a base station provided in the present application;

[0076] FIG15 is a schematic structural diagram of a communication device provided by the present application;

[0077] FIG16 is a schematic structural diagram of another communication device provided in this application. DETAILED DESCRIPTION

[0078] The following first explains the relevant technical features involved in the embodiments of the present application. It should be noted that these explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the present application.

[0079] The technical solutions of the embodiments of the present application can be applied to new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, world-wide interoperability for microwave access (WiMAX) communication systems, and next-generation wireless communication systems such as 6G, without limitation.

[0080] FIG1 is a schematic diagram of the architecture of a communication system 1000 used in an embodiment of the present application. As shown in FIG1 , the communication system includes a wireless access network 100. The wireless access network 100 may include at least one wireless access network device (such as 110a and / or 110b in FIG1 ) and may also include at least one terminal device (such as at least one of 120a-120j in FIG1 ). The terminal device is connected to the access network device wirelessly, and the access network device is connected to the core network device wirelessly or by wire. Terminal devices and wireless access network devices may be connected to each other by wire or by wireless. FIG1 is merely a schematic diagram, and the communication system may also include other wireless access network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in FIG1 .

[0081] Radio access network equipment is a network-side device with wireless transceiver capabilities. Radio access network equipment can be a device in a radio access network (RAN) that provides wireless communication capabilities for terminal devices, and is called a RAN. For example, radio access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a fifth-generation (5G) mobile communication system, a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. It can also be a module or unit that performs some of the functions of a base station, such as a centralized unit (CU) or a distributed unit (DU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part of the physical layer or all of the physical layer. For the specific description of the above-mentioned various protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The wireless access network device can be a macro base station (such as 110a in Figure 1), a micro base station or an indoor station (such as 110b in Figure 1), or a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the wireless access network device.

[0082] In another possible scenario, multiple radio access network devices collaborate to assist the terminal device in achieving wireless access, and different radio access network devices respectively implement part of the functions. For example, the radio access network device can be a CU, DU, CU-control plane (CP), CU-user plane (UP), or radio unit (RU). The CU and DU can be set separately, or can also be included in the same network element, for example, included in the baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, for example, included in a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH). In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples for description. Any of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0083] A terminal device is a user-side device with wireless transceiver capabilities. A terminal device may also be referred to as user equipment (UE), a mobile station, a mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), the Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home appliance, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0084] Wireless access network equipment and terminal devices can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of wireless access network equipment and terminal devices.

[0085] The roles of wireless access network devices and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile wireless access network device. For terminal devices 120j accessing the wireless access network 100 via 120i, terminal device 120i is a wireless access network device. However, for wireless access network device 110a, 120i is a terminal device, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via an interface protocol between wireless access network devices. In this case, 120i is also a wireless access network device relative to 110a. Therefore, wireless access network devices and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be referred to as communication devices with wireless access network device functionality, and 120a-120j in Figure 1 can be referred to as communication devices with terminal device functionality.

[0086] In the following, the wireless access network device is taken as a base station and the terminal device is taken as a UE as an example.

[0087] Communication and perception integration refers to the integration of electromagnetic signals used for communication and perception. Traditionally, active positioning targets primarily consisted of UEs that emit electromagnetic waves, such as mobile phones, vehicles, and Internet of Things (IoT) devices. However, virtual environment reconstruction targets further include passive objects, such as buildings, urban infrastructure (such as billboards and bridges), and vehicles (such as vehicles and bicycles). By receiving electromagnetic wave signals propagating through the spatial environment, the composition of the spatial environment is determined. Through the detection and reconstruction of the virtual environment (active and passive objects and devices), further assisted positioning or communication performance improvement is achieved. Base stations and UEs are the primary devices involved in virtual environment reconstruction. Perception quality is related to sensory resources, space, time, frequency band, power consumption, and site. A site can refer to a base station, UE, or customer premises equipment (CPE).

[0088] Based on whether the transmitter and receiver of the sensing signal are co-located or separated, the sensing modes are mainly divided into monostatic sensing, bistatic sensing, and multistatic sensing. Multistatic sensing generally consists of monostatic sensing and bistatic sensing.

[0089] Figure 2 shows a schematic diagram of a scenario in monostatic sensing mode. The transmitter and receiver are co-located, and the sensing signal can use data payloads. Therefore, this sensing function does not consume communication resources. Furthermore, since the transmitter and receiver are co-sourced, non-ideal factors such as synchronization are eliminated, resulting in improved sensing algorithm complexity and estimation accuracy. Because the signal is transmitted and received independently, the angular range of the detected signal is strongly correlated with the ambient incident angle. The reflected signal from an object rapidly decays as the incident angle increases. This means that the range of the spatial environment that can be sensed in the monostatic sensing mode is significantly affected by the material and placement angle of the target object. In monostatic sensing, the sensing signal sent by the transmitter is typically received by the receiver after a single scattering event. This allows the receiver to accurately determine the spatial environment.

[0090] Figure 3 shows a scenario diagram for a dual-static sensing mode. The transmitter and receiver are located at different locations, and the sensing signal requires a dedicated pilot or known signal. Therefore, this sensing function consumes communication resources. Furthermore, since the transmitter and receiver are from different sources, non-ideal factors such as synchronization and phase noise exist. This results in poor sensing algorithm complexity and estimation accuracy, requiring a complex calibration algorithm to address these issues. In dual-static sensing, due to the use of self-transmission and other-reception, the range of the spatial environment it can perceive is relatively large, and this range also increases as the receiver moves. Furthermore, the sensing signal sent by the transmitter can be received by the receiver after either a single scattering or multiple scattering. Currently, the spatial environment solution accuracy for multiple scattering is lower than that for single scattering, but the range of the spatial environment that can be perceived by multiple scattering is larger than that for single scattering.

[0091] Based on the architecture diagram of the communication system shown in FIG1 and the scenario diagrams shown in FIG2 and FIG3 , FIG4 is an architecture diagram of an integrated communication and perception system exemplarily provided in the present application. The integrated communication and perception system is used to perceive scattering points in a spatial environment. Specifically, it can be understood that the spatial environment may include multiple scatterers (such as buildings, urban facilities, vehicles, etc.). When a perception signal is projected onto a certain point on the scatterer, the point on the scatterer (referred to as a scattering point) will scatter the perception signal. Therefore, the perception calculation specifically perceives the coordinates of the scattering point on the scatterer, and then constructs the shape of the scatterer based on multiple scattering points.

[0092] Furthermore, the communication perception integrated system includes a sensing management function (SMF), a base station, and a UE. There can be one or more SMFs, each SMF can be connected to one or more base stations, and each base station can be used to serve one or more UEs. It can be understood that Figure 4 only exemplifies one SMF, the SMF is connected to base station 1 and base station 2, base station 1 serves UE11 to UE13, and base station 2 serves UE21 to UE23, but it is not sufficient to limit the number of SMFs, base stations, and UEs in this application.

[0093] In Figure 4, the SMF and base station are deployed separately, but in actual applications, the SMF and base station can also be deployed together, that is, SMF is deployed in a base station, and correspondingly, other base stations are connected to the SMF deployed in the base station.

[0094] SMF is used to centrally store, manage, distribute, and calculate the information of scattering points in the space environment. Furthermore, SMF can be a network element in a hardware device, a software function running on dedicated hardware, or a virtualization function instantiated on a platform (for example, a cloud platform). Optionally, SMF can be implemented by one device, or by multiple devices together, or it can be a functional module within a device. The base station is used to centrally store, manage, distribute, and calculate the information of scatterers in the part of the space environment where the base station is located. It should also be noted that there can be other names for the perception function body, which is not limited by this application.

[0095] Currently, distribution information is introduced, which can be used to indicate the distribution of the first scattering point in the perception space. Furthermore, this distribution information can be used to determine (or, in other words, perceive, calculate, predict, etc.) the coordinates of the second scattering point, helping to improve the accuracy of the perception calculation performed on the second scattering point. It is understood that the distribution information can be used to improve the perception accuracy in the monostatic perception mode shown in Figure 2, as well as in the dual-static perception mode shown in Figure 3, and of course, in the multi-static perception mode. It is understood that the first scattering point is a known scattering point, and the second scattering point is an unknown scattering point, a scattering point to be predicted, a scattering point to be perceived, etc.

[0096] Furthermore, in combination with the embodiment related to FIG. 4 , distribution information can be transmitted between any two communication nodes.

[0097] For example, in dual-static sensing mode, base station 1 sends a sensing signal and distribution information to UE 11. In response, UE 11 performs sensing calculations on a second scattering point in the sensing space based on the distribution information and the sensing signal. For another example, in dual-static sensing mode, the SMF sends distribution information to base station 1, which then stores the distribution information. Base station 1 may also send a sensing signal and distribution information to UE 11. UE 11 performs sensing calculations on a second scattering point in the sensing space based on the distribution information and the sensing signal. For another example, in dual-static sensing mode, base station 1 sends a sensing signal to UE 11. UE 11 performs sensing calculations on the sensing space based on the sensing signal to obtain the coordinates of the first scattering point. UE 11 determines distribution information based on the coordinates of the first scattering point and reports the distribution information to base station 1.

[0098] The distribution information transmitted between two communication nodes may specifically be the coordinates of a first scattering point. There may be one or more first scattering points. For example, the perception space includes 5000 first scattering points (denoted as scattering points 1 to 5000). The coordinates of scattering point 1 can be expressed as (x1, y1, z1), the coordinates of scattering point 2 can be expressed as (x2, y2, z2), ..., and the coordinates of scattering point 5000 can be expressed as (x5000, y5000, z5000). Therefore, when the transmitter (i.e., the communication node used to transmit the distribution information, hereinafter the same) transmits the distribution information to the receiver (i.e., the communication node used to receive the distribution information, hereinafter the same), the distribution information may specifically include the coordinates of scattering point 1 (x1, y1, z1), the coordinates of scattering point 2 (x2, y2, z2), ..., and the coordinates of scattering point 5000 (x5000, y5000, z5000).

[0099] To reduce the communication resources occupied when transmitting distribution information between two communication nodes, the transmitter can process (also known as compress) the distribution information. Specifically, the transmitter determines multiple perceptual subspaces based on the perceptual space (for example, by dividing the perceptual space into multiple perceptual subspaces), determines the number of first scattering points in each perceptual subspace, and sends the distribution information to the receiver. The distribution information carries the number of first scattering points corresponding to each of the multiple perceptual subspaces.

[0100] Figure 5 is a schematic diagram of an example provided by the present application in which a transmitter determines multiple sub-perception spaces based on a perception space. The perception space is specifically a three-dimensional space corresponding to the x-axis, y-axis, and z-axis. The transmitter divides the perception space into 4 perception subspaces on the x-axis, 4 perception subspaces on the y-axis, and 4 perception subspaces on the z-axis to obtain a 4×4×4 perception subspace, and determines the number of first scattering points in each perception subspace. For the convenience of description, when a perception subspace is located at the i-th on the x-axis, the j-th on the y-axis, and the k-th on the z-axis, the position of the perception subspace can be expressed as (x, y, z). The number of first scattering points in the perception subspace located at (1, 1, 1) is 300, the number of first scattering points in the perception subspace located at (2, 1, 1) is 310, and so on. Furthermore, when the transmitter sends distribution information to the receiver, the distribution information can be specifically a 4×4×4 density matrix. The 4×4×4 elements in the density matrix correspond to the 4×4×4 perceptual subspaces, and the value of each element is equal to the number of first scattering points in the perceptual subspace corresponding to the element. Furthermore, in the density matrix, the value of the element at (1,1,1) is 300, the value of the element at (2,1,1) is 310, and so on.

[0101] FIG6 is a schematic diagram of a transmitter determining multiple sub-perception spaces based on a perception space in a specific scenario exemplified in this application. The specific scenario is a street scene, that is, the perception space is a street, and buildings, trees, signboards, etc. are set up on both sides of the street. The buildings, trees, and signboards can be considered as scatterers, and each scatterer includes one or more scattering points. The multiple perception subspaces determined by the transmitter based on the street include perception subspace 1 and perception subspace 2, wherein there are scatterers (i.e., buildings) in perception subspace 1, and the number of first scattering points in perception subspace 1 is greater than 0, while perception subspace 2 does not include scatterers, and the number of first scattering points in perception subspace 2 is 0.

[0102] For ease of description, this application may define distribution information 1 and distribution information 2, where distribution information 1 includes the coordinates of the first scattering point, and distribution information 2 includes the number of first scattering points in each perceptual subspace. The transmitter may process distribution information 1 to obtain distribution information 2.

[0103] Currently, different perception spaces (or the perception tasks corresponding to them) have their own characteristics. Based on these characteristics, the distribution information can be further processed to reduce the communication resources occupied when transmitting the distribution information between two communication nodes.

[0104] For example, when the perception space is a city street and the perception task is to detect buildings on the street, the perception system has a low need to detect scattering points along the z-axis, given the high degree of continuity of buildings along the vertical direction (i.e., the z-axis). In this case, the perception system can only detect scattering points along the horizontal plane formed by the x- and y-axes, without needing to detect scattering points along the z-axis. Accordingly, the transmitter can include the distribution information of the first scattering point along the horizontal plane formed by the x- and y-axes in the distribution information, without needing to include the distribution information of the first scattering point along the z-axis.

[0105] It should be pointed out that this idea can also be applied to other scenarios where there is no need to perceive scattering points on the z-axis. For example, the perception space is indoors, and the perception system is used to reconstruct indoor walls.

[0106] In Example 2, when the perception space is the sky within a specific range and the perception task is to sense the flight altitude of the drone within the perception space, the perception system has a lower requirement for sensing scattering points on the horizontal plane formed by the x- and y-axes. In this case, the perception system only needs to sense scattering points on the z-axis. Accordingly, the transmitter can include the distribution information for the first scattering point on the z-axis in the distribution information, without including the distribution information for the first scattering point on the horizontal plane formed by the x- and y-axes.

[0107] It should be pointed out that this idea can also be applied to other scenarios where there is no need to perceive scattering points on the horizontal plane composed of the x-axis and y-axis. For example, the perception space is a three-dimensional parking lot, and the perception task is for the perception system to perceive parked vehicles in the three-dimensional parking lot.

[0108] Of course, the above two examples are merely illustrative, and other perception spaces (or perception tasks) may have other characteristics. For example, a perception space may only need to perceive scattering points on the x-axis, but not on the vertical plane formed by the y-axis and the z-axis. In this case, the transmitter may include the distribution information of the first scattering point on the x-axis in the distribution information, but not on the vertical plane formed by the y-axis and the z-axis. For another example, a perception space may only need to perceive scattering points on the vertical plane formed by the x-axis and the z-axis, but not on the y-axis. In this case, the transmitter may include the distribution information of the first scattering point on the x-axis and the z-axis in the distribution information, but not on the y-axis.

[0109] As shown in Figure 7, a flow chart of a density information transmission method exemplarily provided in this application, the method can be interactively executed by a transmitting end and a receiving end. In conjunction with the example in Figure 4, the transmitting end and the receiving end can be base station 1 (or base station 2) and SMF, or SMF and base station 1 (or base station 2), or base station 1 and base station 2, or UE11 and UE12, or UE21 and UE22, or base station 1 and UE11, or UE11 and base station 1, etc.

[0110] In this application, the functions of the transmitting end may also be performed by a module (such as a chip) in the transmitting end, or by a control subsystem that includes the functions of the transmitting end. For example, when the transmitting end is a base station, the control subsystem that includes the base station functions may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the receiving end may also be performed by a module (such as a chip) in the receiving end, or by a device that includes the functions of the receiving end. For the convenience of description, the transmitting end and the receiving end are used as examples below.

[0111] In step 701, the transmitting end determines density information (or scatters information).

[0112] The density information includes the perception data format and the distribution information of the first scattering point in the N-dimensional space in the M-dimensional space.

[0113] It can be understood that the N-dimensional space includes the first scattering points, the distribution information herein is the distribution information of the first scattering points in the M-dimensional space, and the perception data format is used to indicate the format of the distribution information of the first scattering points in the M-dimensional space. M and N are both positive integers, and N is greater than M.

[0114] N-dimensional space is equivalent to the above-mentioned perception space, and N-dimensional space has N dimensions. Exemplarily, N-dimensional space is a three-dimensional space corresponding to the x-axis, y-axis, and z-axis, and N dimensions are the three dimensions of the x-axis, y-axis, and z-axis, and N=3; another exemplary embodiment, N-dimensional space is a two-dimensional space corresponding to the x-axis and y-axis, and N dimensions are the two dimensions of the x-axis and y-axis, and N=2; another exemplary embodiment, N-dimensional space is a four-dimensional space corresponding to the x-axis, y-axis, z-axis, and time axis, and N dimensions are the four dimensions of the x-axis, y-axis, z-axis, and time axis, and N=4. Of course, in future perception methods, N-dimensional space may also include other dimensions, which are not limited in this application.

[0115] The M-dimensional space is obtained based on the N-dimensional space. Exemplarily, the M-dimensional space is obtained by reducing the dimensionality of the N-dimensional space, or by compressing the N-dimensional space. The M-dimensional space has M dimensions. The relationship between the M-dimensional space and the M dimensions can be seen in the description of the relationship between the N-dimensional space and the N dimensions above. Furthermore, the M dimensions are partial dimensions of the N dimensions. The remaining dimensions of the N dimensions, excluding the M dimensions, can be considered as dimensions to be compressed (or called dimensions to be reduced). The distribution information of the first scattering points in the dimensions to be compressed does not need to be included in the density information. In conjunction with the above example 1, the N-dimensional space is the three-dimensional space corresponding to the x-axis, y-axis, and z-axis, the M-dimensional space is the two-dimensional space corresponding to the x-axis and y-axis, and the dimension to be compressed is the z-axis dimension. The density information can carry the distribution information of the first scattering point in the two-dimensional space corresponding to the x-axis and y-axis (i.e., the horizontal plane), without carrying the distribution information of the first scattering point in the z-axis dimension. In conjunction with the above example 2, the N-dimensional space is the three-dimensional space corresponding to the x-axis, y-axis, and z-axis, the M-dimensional space is the one-dimensional space (or called a vector) corresponding to the z-axis, and the dimensions to be compressed are the x-axis and y-axis dimensions. The density information can carry the distribution information of the first scattering point in the one-dimensional space corresponding to the z-axis, without carrying the distribution information of the first scattering point in the x-axis and y-axis dimensions (i.e., the horizontal plane).

[0116] Furthermore, the number of first scattering points included in the N-dimensional space is 1, where 1 is a positive integer greater than 1. In the present application, the distribution information of the first scattering points (or the first scattering points) in the N-dimensional space can be referred to as first distribution information, and the first distribution information can be the above-mentioned distribution information 1 or distribution information 2. The distribution information of the first scattering points (or the first scattering points) in the M-dimensional space can also be referred to as second distribution information. The second distribution information is determined by the first distribution information.

[0117] In one possible example, the transmitting end determines the second distribution information according to the first distribution information.

[0118] Since the first distribution information is the distribution information of the first scattering points in the N-dimensional space, and the second distribution information is the distribution information of the first scattering points in the M-dimensional space, this process can also be considered as the transmitter compressing (or reducing the dimensionality of) the first distribution information to obtain the second distribution information. This process can further include the transmitter compressing (or reducing the dimensionality of) the N-dimensional space to obtain the M-dimensional space.

[0119] FIG9 is a flow chart of a method for determining second distribution information based on first distribution information provided by a transmitting end in accordance with an exemplary embodiment of the present application.

[0120] Step 901: The transmitting end determines distribution information of first scattering points in n N-dimensional subspaces according to first distribution information.

[0121] The first distribution information is specifically the distribution information 1 mentioned above, that is, the first distribution information includes the coordinates of I first scattering points.

[0122] In one specific implementation, the transmitter determines n N-dimensional subspaces based on the N-dimensional space (equivalently, the transmitter determines n perceptual subspaces based on the perceptual space; for details, see the description of the embodiments related to FIG. 5 or FIG. 6 , where the N-dimensional subspace is equivalent to the perceptual subspace). N is a positive integer. For each of the first scattering points, the transmitter determines the N-dimensional subspace within which the coordinates of the first scattering point are located. The transmitter increases the number of first scattering points contained in the N-dimensional subspace by 1, and continues until all first scattering points have been traversed. This results in the number of first scattering points contained in each N-dimensional subspace. In other words, an N-dimensional subspace may include one or more first scattering points, or may not include any first scattering points, and the sum of the numbers of first scattering points contained in the n N-dimensional subspaces is equal to 1. Furthermore, the transmitter uses the number of first scattering points contained in each N-dimensional subspace as distribution information of the first scattering points in that N-dimensional subspace to obtain distribution information of the first scattering points in the n N-dimensional subspaces.

[0123] It should be added that the first distribution information may also be the above-mentioned distribution information 2, that is, the first distribution information includes the number of first scattering points respectively included in n N-dimensional subspaces. In this manner, the transmitting end does not need to perform step 901.

[0124] Optionally, the sending end may first determine the first distribution information.

[0125] Exemplarily, the transmitting end may obtain the coordinates of the first scattering point by at least one or more of the following methods (1) to (3). Furthermore, the transmitting end may combine the coordinates of the first scattering point into first distribution information (i.e., distribution information 1). Alternatively, the transmitting end may determine n N-dimensional subspaces based on the N-dimensional space and determine the number of first scattering points in each N-dimensional subspace to obtain first distribution information (i.e., distribution information 2).

[0126] Method (1): The transmitter determines the sensing mode based on single-base sensing.

[0127] For example, the transmitter determines the coordinates of the first scattering point based on the transmission angle and transmission time of the perception signal sent by the transmitter, the reception angle and reception time of the perception signal received by the transmitter, and the calculation method (or called calculation model, perception model, etc.) corresponding to the single-base perception.

[0128] In method (2), the transmitter determines the sensing mode based on the single scattering in the dual-base sensing.

[0129] For example, the transmitting end is a base station, and the base station sends a downlink sensing signal, a transmission angle, and a transmission time of the downlink sensing signal to the UE. The UE determines the coordinates of the first scattering point based on the reception time and reception angle of the downlink sensing signal received by the UE, the transmission angle and transmission time of the downlink sensing signal, and a calculation method corresponding to single scattering in bistatic sensing. The UE sends the coordinates of the first scattering point to the base station.

[0130] For another example, the transmitting end is a base station. The UE transmits an uplink sensing signal, as well as the transmission angle and transmission time of the uplink sensing signal, to the base station. The base station determines the coordinates of the first scattering point based on the reception time and reception angle of the uplink sensing signal received by the base station, the transmission angle and transmission time of the uplink sensing signal, and the calculation method corresponding to single scattering in bistatic sensing.

[0131] Method (3): The sending end obtains it from other devices.

[0132] For example, when the transmitter is deployed separately from the SMF, the SMF stores the coordinates of the first scattering point in the N-dimensional space, and then the transmitter obtains the coordinates of the first scattering point in the N-dimensional space from the SMF.

[0133] For another example, the transmitting end is a base station, and the coordinates of the first scattering point in the N-dimensional space are stored in other base stations. The base station can obtain the coordinates of the first scattering point in the N-dimensional space from the other base stations. Exemplarily, the other base station has already performed perception calculations on the N-dimensional space. Exemplarily, the base station and the other base station can be respectively recorded as base station A and base station B, base station A corresponds to N-dimensional space A, base station B corresponds to N-dimensional space B, there is an intersection between N-dimensional space A and N-dimensional space B (recorded as N-dimensional space C), base station B has already performed perception calculations on N-dimensional space B (including N-dimensional space C), then base station A can obtain the coordinates of the first scattering point in N-dimensional space C from base station B.

[0134] For another example, the image processing device may determine information about scatterers contained in the captured space (e.g., the position and outline of the scatterers) based on the captured images. The transmitting end then obtains the scatterer information from the image processing device and determines the coordinates of a first scattering point in the N-dimensional space based on the scatterer information. There is an intersection between the captured space and the N-dimensional space; for example, the captured space includes the N-dimensional space.

[0135] Step 902: The transmitting end determines distribution information of the first scattering points in m M-dimensional subspaces respectively based on distribution information of the first scattering points in n N-dimensional subspaces.

[0136] The M-dimensional space includes m M-dimensional subspaces, each of which corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer. Exemplarily, K is equal to the product of the number of N-dimensional subspaces on each of the (NM) dimensions to be compressed. For example, when the dimension to be compressed is one, K is equal to the number of N-dimensional subspaces on the dimension to be compressed; when the dimension to be compressed is two, K is equal to the product of the number of N-dimensional subspaces on the two dimensions to be compressed, and so on.

[0137] FIG8 is a schematic diagram showing the relationship between the N-dimensional space and the M-dimensional space provided by this application:

[0138] Combined with (a) in Figure 8, the N-dimensional space is specifically the three-dimensional space corresponding to the x-axis, y-axis and z-axis, and the M-dimensional space is specifically the two-dimensional space corresponding to the x-axis and y-axis. The three-dimensional space includes 4×4×4 three-dimensional subspaces, and the two-dimensional space includes 4×4 two-dimensional subspaces. The dimension to be compressed corresponding to the z-axis includes 4 three-dimensional subspaces. Accordingly, each two-dimensional subspace corresponds to 4 three-dimensional subspaces in the three-dimensional space (see the subspaces marked with bold lines for details).

[0139] Combined with (b) in Figure 8, the N-dimensional space specifically refers to the three-dimensional space corresponding to the x-axis, y-axis and z-axis, and the M-dimensional space specifically refers to the one-dimensional space corresponding to the z-axis. The three-dimensional space includes 4×4×4 three-dimensional subspaces, and the one-dimensional space includes 4 one-dimensional subspaces. The dimension to be compressed corresponding to the x-axis includes 4 three-dimensional subspaces, and the dimension to be compressed corresponding to the y-axis includes 4 three-dimensional subspaces. Accordingly, each one-dimensional subspace corresponds to 4×4 three-dimensional subspaces in the three-dimensional space (see the subspace marked with bold lines for details).

[0140] For each of the m M-dimensional subspaces, the transmitter can determine the distribution information of the first scattering point in the M-dimensional subspace based on the information (such as the number or position, etc.) of the non-empty subspaces in the K N-dimensional subspaces corresponding to the M-dimensional subspace in the N-dimensional space.

[0141] The non-empty subspace includes the first scattering point. Alternatively, a non-empty subspace can be understood as a subspace containing the first scattering point among the K N-dimensional subspaces, or as a subspace containing more than zero first scattering points among the K N-dimensional subspaces. In this application, a non-empty subspace can also be referred to as a non-zero value subspace, a non-empty value subspace, a non-empty grid, a non-zero value grid, a subspace with scattering points, etc. Of course, other names that meet this definition are also possible and are not limited in this application.

[0142] Step 902 is explained in three implementation modes as follows:

[0143] In implementation method 1, when the transmitting end determines that the number of non-empty subspaces in the K N-dimensional subspaces is greater than 0, the distribution information of the first scattering point in the M-dimensional subspace is determined to be a third value. When the transmitting end determines that the number of non-empty subspaces in the K N-dimensional subspaces is equal to 0, the distribution information of the first scattering point in the M-dimensional subspace is determined to be a fourth value.

[0144] The third value and the fourth value are different. For example, the third value is 1 and the fourth value is 0; or the third value is 0 and the fourth value is 1, etc. For ease of description, the following description takes the third value being 1 and the fourth value being 0 as an example.

[0145] FIG10 is a schematic diagram of a first example of a transmitting end determining distribution information of a first scattering point in an M-dimensional subspace provided by the present application:

[0146] For the M-dimensional subspace located at (1,1) (i.e., the subspace filled with diagonal bars shown in Figure 10(b)), it corresponds to four N-dimensional subspaces located at (1,1,1), (1,1,2), (1,1,3), and (1,1,4) in the N-dimensional space (i.e., the subspace filled with diagonal bars shown in Figure 10(a)). The number of first scattering points contained in these four N-dimensional subspaces is 300, 300, 350, and 350, respectively. That is, the number of non-empty subspaces is greater than 0. Therefore, the distribution information of the first scattering point in the M-dimensional subspace located at (1,1) is determined to be 1.

[0147] For the M-dimensional subspace located at (1,3) (i.e., the subspace filled with vertical bars shown in Figure 10(b)), it corresponds to four N-dimensional subspaces located at (1,3,1), (1,3,2), (1,3,3), and (1,3,4) in the N-dimensional space (i.e., the subspace filled with vertical bars shown in Figure 10(a)). The number of first scattering points contained in these four N-dimensional subspaces is 0, 0, 0, 0, respectively. That is, the number of non-empty subspaces is equal to 0. Therefore, the distribution information of the first scattering point in the M-dimensional subspace located at (1,3) is determined to be 0.

[0148] In implementation method 2, the transmitter determines the number of non-empty subspaces in the K N-dimensional subspaces, and then determines the number of non-empty subspaces in the K N-dimensional subspaces as distribution information of the first scattering point in the M-dimensional subspace.

[0149] FIG11 is a schematic diagram of a second exemplary embodiment of the present application in which a transmitting end determines distribution information of a first scattering point in an M-dimensional subspace.

[0150] For the M-dimensional subspace located at (1,1) (i.e., the subspace filled with diagonal bars shown in Figure 11(b)), it corresponds to four N-dimensional subspaces located at (1,1,1), (1,1,2), (1,1,3), and (1,1,4) in the N-dimensional space (i.e., the subspace filled with diagonal bars shown in Figure 11(a)). The number of first scattering points contained in these four N-dimensional subspaces is 300, 300, 350, and 350, respectively. That is, the number of non-empty subspaces is equal to 4. Therefore, the distribution information of the first scattering points in the M-dimensional subspace located at (1,1) is determined to be 4.

[0151] For the M-dimensional subspace located at (1,3) (i.e., the subspace filled with vertical bars shown in Figure 11(b)), it corresponds to four N-dimensional subspaces located at (1,3,1), (1,3,2), (1,3,3), and (1,3,4) in the N-dimensional space (i.e., the subspace filled with vertical bars shown in Figure 11(a)). The number of first scattering points contained in these four N-dimensional subspaces is 0, 0, 0, 0, respectively. That is, the number of non-empty subspaces is equal to 0. Therefore, the distribution information of the first scattering point in the M-dimensional subspace located at (1,3) is determined to be 0.

[0152] In implementation 3, the transmitter determines the position (or index, identity, etc.) of a non-empty subspace in the K N-dimensional subspaces as the distribution information of the first scattering point in the M-dimensional subspace. Furthermore, when the transmitter determines that the K N-dimensional subspaces do not include a non-empty subspace, the distribution information of the first scattering point in the M-dimensional subspace may be determined to be empty, which can be represented as {-}.

[0153] FIG12 is a schematic diagram of a third exemplary embodiment of the present application in which a transmitting end determines distribution information of a first scattering point in an M-dimensional subspace.

[0154] For the M-dimensional subspace located at (1,1) (i.e., the subspace filled with diagonal bars shown in Figure 12(b)), it corresponds to four N-dimensional subspaces located at (1,1,1), (1,1,2), (1,1,3), and (1,1,4) in the N-dimensional space (i.e., the subspace filled with diagonal bars shown in Figure 12(a)). The number of first scattering points contained in these four N-dimensional subspaces is 300, 300, 350, and 350, respectively. Therefore, the distribution information of the first scattering points in the M-dimensional subspace located at (1,1) is determined to be {1, 2, 3, 4}.

[0155] For the M-dimensional subspace located at (1,3) (i.e., the subspace filled with vertical bars shown in Figure 12(b)), it corresponds to four N-dimensional subspaces located at (1,3,1), (1,3,2), (1,3,3), and (1,3,4) in the N-dimensional space (i.e., the subspace filled with vertical bars shown in Figure 12(a)). The number of first scattering points contained in these four N-dimensional subspaces is 0, 0, 0, 0, respectively. That is, there is no non-empty subspace at each position. Therefore, the distribution information of the first scattering points in the M-dimensional subspace located at (1,3) is determined to be {-}.

[0156] It can be understood that the data volume of the distribution information corresponding to each of the above implementations 1 to 3 is ranked from smallest to largest as follows: Implementation 1, Implementation 2, Implementation 3; and the perception accuracy of the distribution information used to determine the coordinates of scattering points is ranked from lowest to highest as follows: Implementation 1, Implementation 2, Implementation 3. Each implementation can be applied to different scenarios. For example, Implementation 1 can be applied to scenarios such as street and building reconstruction and indoor floor plan reconstruction; Implementation 2 can be applied to scenarios such as vehicle detection and weather perception; and Implementation 3 can be applied to scenarios such as drone detection.

[0157] Furthermore, the perception data format is used to indicate a format of distribution information of the first scattering points in the M-dimensional space. Specifically, the perception data format may be used to indicate a format of distribution information of the first scattering points in the M-dimensional subspace.

[0158] In combination with the above-mentioned embodiments of FIG. 10 to FIG. 12 , the transmitting end may determine the distribution information in the M-dimensional subspace based on three implementation methods, and different implementation methods may correspond to different formats of the distribution information in the M-dimensional subspace.

[0159] In one possible example, the value of the perception data format may be the fifth value, the sixth value, or the seventh value.

[0160] When the value of the perception data format is the fifth value, corresponding to the above-mentioned implementation method 1, it is used to indicate that the distribution information in the M-dimensional subspace is the third value or the fourth value, wherein the third value is used to indicate that the number of non-empty subspaces in the K N-dimensional subspaces corresponding to the M-dimensional subspace is greater than 0, and the fourth value is used to indicate that the number of non-empty subspaces in the K N-dimensional subspaces corresponding to the M-dimensional subspace is equal to 0.

[0161] When the value of the perception data format is the sixth value, corresponding to the above-mentioned implementation method 2, it is used to indicate that the distribution information in the M-dimensional subspace is the number of non-empty subspaces in the K N-dimensional subspaces corresponding to the M-dimensional subspace.

[0162] When the value of the perception data format is the seventh value, corresponding to the above implementation method 3, it is used to indicate that the distribution information in the M-dimensional subspace is the position of the non-empty subspace in the K N-dimensional subspaces corresponding to the M-dimensional subspace.

[0163] Exemplarily, the fifth value, the sixth value, and the seventh value are different from each other. For example, the fifth value, the sixth value, and the seventh value can be 0, 1, and 2, respectively.

[0164] In this application, the perception data format may also be referred to as a data format, a perception data mode, a perception data compression method, etc. This application does not limit the name of the perception data format.

[0165] In step 903, the transmitter determines the distribution information of the first scattering point in the M-dimensional space based on the distribution information of the first scattering point in the m M-dimensional subspaces. Specifically, the m M-dimensional subspaces constitute the M-dimensional space. Accordingly, the transmitter can combine the distribution information of the first scattering point in the m M-dimensional subspaces into the distribution information of the first scattering point in the M-dimensional space.

[0166] In conjunction with the embodiments described in Figures 10 to 12 , the distribution information of the first scattering points in the m M-dimensional subspaces can be formed into a two-dimensional density matrix. This two-dimensional density matrix represents the distribution information of the first scattering points in the M-dimensional space. For example, this two-dimensional density matrix can be represented as array[Nx][Ny], where [Nx][Ny] represents the distribution information in the M-dimensional subspace of (x, y).

[0167] It should be noted that the above description is merely based on an example in which the transmitter determines the distribution information of the first scattering point in the M-dimensional subspace based on information (such as the number or position) of non-empty subspaces in the K N-dimensional subspaces. In the present application, the transmitter may also determine the distribution information of the first scattering point in the M-dimensional subspace based on information (such as the number or position) of empty subspaces (also known as zero-value subspaces, null-value subspaces, empty grids, zero-value grids, subspaces without scattering points, etc.) in the K N-dimensional subspaces. The specific implementation is similar to the above embodiment, and the "non-empty subspace" in the above embodiment can be replaced with "empty subspace," or the replaced embodiment can be simply modified.

[0168] Furthermore, before step 701, the sending end further includes:

[0169] In step 700 , the transmitting end selects M dimensions from N dimensions.

[0170] The following examples provide three selection methods for the sender to select M dimensions from N dimensions:

[0171] In selection mode 1, the sender selects M dimensions from N dimensions according to pre-configured information.

[0172] In example A, the transmitting end includes first preconfiguration information, which includes a correspondence between an M-dimensional space and M dimensions, that is, the M dimensions constitute the M-dimensional space. The transmitting end may determine the M dimensions according to the first preconfiguration information.

[0173] For example, the first pre-configuration information includes correspondence 1 and correspondence 2. Correspondence 1 includes a two-dimensional space and two dimensions, the x-axis and the y-axis, and correspondence 2 includes a one-dimensional space and one dimension, the z-axis. When the M-dimensional space is a two-dimensional space, the transmitter can determine the two dimensions, the x-axis and the y-axis (i.e., M dimensions), based on the first pre-configuration information; when the M-dimensional space is a one-dimensional space, the transmitter can determine the one dimension, the z-axis (i.e., M dimensions), based on the first pre-configuration information.

[0174] Example B: The sending end includes second pre-configuration information, which includes dimensions to be compressed. That is, when the sending end determines that the first distribution information needs to be reduced in dimension, it can determine which one or more dimensions to be compressed based on the second configuration information, and then determine the M dimensions corresponding to the M-dimensional space based on the dimensions to be compressed and the N dimensions corresponding to the N-dimensional space.

[0175] For example, the second pre-configuration information includes one dimension to be compressed, the z-axis, and two dimensions to be compressed, the x-axis and the y-axis. When the N-dimensional space is a three-dimensional space corresponding to the x-axis, y-axis, and z-axis, and the M-dimensional space is a two-dimensional space, the transmitting end may first determine the z-axis as the dimension to be compressed based on the second pre-configuration information, and then determine that the two-dimensional space corresponds to the x-axis and the y-axis (i.e., M dimensions); when the N-dimensional space is a three-dimensional space corresponding to the x-axis, y-axis, and z-axis, and the M-dimensional space is a one-dimensional space, the transmitting end may first determine the x-axis and the y-axis as the dimensions to be compressed, and then determine that the one-dimensional space corresponds to the z-axis (i.e., M dimensions).

[0176] In one possible example, before selecting M dimensions from N dimensions, the transmitting end further determines that the transmission resources do not meet the first transmission requirement. That is, the transmitting end determines that the current transmission resources are relatively scarce. Exemplarily, when determining the first transmission requirement, the transmitting end may specifically determine the amount of data carrying the density information of the first distribution information (referred to as the first density information) based on the amount of data of the first distribution information, and then determine the first transmission requirement based on the amount of data of the first density information. The first transmission requirement is, for example, the transmission resources occupied by the first density information.

[0177] Furthermore, the transmitting end may first set M=N-1, and determine the M dimensions based on the value of M and the pre-configuration information (first pre-configuration information or second pre-configuration information). The transmitting end determines the second distribution information corresponding to the M dimensions based on the first distribution information and the M dimensions. The transmitting end then determines the amount of data of the density information (recorded as the second density information) carrying the second distribution information based on the second distribution information, and determines the second transmission requirement based on the amount of data of the second density information. If the transmitting end determines that the transmission resources meet the second transmission requirement, it determines that the second distribution information is the final second distribution information; if the transmitting end determines that the transmission resources do not meet the second transmission requirement, it continues to set M=N-2, and determines the new M dimensions, the second distribution information, the amount of data of the second density information and the second transmission requirement based on the value of M and the pre-configuration information, and determines whether the transmission resources meet the new second transmission requirement, until the final value of M, the second distribution information and the second density information are determined.

[0178] In another possible example, before selecting M dimensions from N dimensions, the sender also determines the data volume of the first density information based on the data volume of the first distribution information, and determines that the data volume of the first density information is greater than the data volume threshold (without comparing the current transmission resources).

[0179] Furthermore, the sending end may first set M=N-1, and determine the M dimensions based on the value of M and the pre-configuration information (first pre-configuration information or second pre-configuration information). The sending end determines the second distribution information corresponding to the M dimensions based on the first distribution information and the M dimensions. The sending end then determines the data volume of the second density information based on the second distribution information. If the sending end determines that the data volume of the second density information is less than or equal to the data volume threshold, it determines that the second distribution information is the final second distribution information; if the sending end determines that the data volume of the second density information is greater than the data volume threshold, it continues to set M=N-2, and according to the value of M and the pre-configuration information, determines the new M dimensions, the second distribution information, and the data volume of the second density information in turn, and then determines whether the data volume of the second density information is less than or equal to the data volume threshold, until the final value of M, the second distribution information, and the second density information are determined.

[0180] Example C: The sending end includes third pre-configuration information, which may include multiple correspondences. Each correspondence includes a preset perception task and a dimension corresponding to the preset perception task. The dimensions corresponding to different preset perception tasks are the same or different.

[0181] In one possible example, the sending end determines that the target perception task corresponding to the N-dimensional space is a preset perception task in the third pre-configuration information. The sending end can determine the dimension corresponding to the target perception task (i.e., M dimensions) based on the target perception task and multiple corresponding relationships.

[0182] For example, the multiple correspondences in the third pre-configuration information are shown in Table 1 below. When the perception task is to perceive buildings in urban streets, the corresponding M dimensions are two dimensions of the x-axis and the y-axis; when the perception task is to perceive indoor walls, the corresponding M dimensions are two dimensions of the x-axis and the y-axis; when the perception task is to perceive the height of a drone in the sky, the corresponding M dimensions are one dimension of the z-axis; when the perception task is to perceive parked vehicles in a three-dimensional parking lot, the corresponding M dimensions are one dimension of the z-axis, and so on.

[0183] Table 1

[0184] In addition, in the above example C, before selecting M dimensions from N dimensions, the sending end can also determine that the transmission resources do not meet the first transmission requirements, or determine that the data volume of the first density information is greater than the data volume threshold. For details, please refer to the description in the above example A or example B.

[0185] Unless otherwise specified, the density information in this application refers to the second density information, that is, the density information including the second distribution information.

[0186] In the second selection mode, the sending end receives a density information request from the receiving end, where the density information request is used to indicate M dimensions.

[0187] In one example, the density information request includes M dimensions.

[0188] Specifically, the receiving end may include preconfiguration information (first preconfiguration information or second preconfiguration information). The receiving end may determine the M dimensions based on Example A or Example B in the above-mentioned selection method 1, and the above-mentioned "sending end" may be replaced with "receiving end" for understanding. Exemplarily, the receiving end obtains the data volume of the first distribution information and the second distribution information from the sending end. Subsequently, the receiving end sends a density information request to the sending end. For example, if the M dimensions are two dimensions of the x-axis and the y-axis, the density information request includes two dimensions of the x-axis and the y-axis; for another example, if the M dimensions are one dimension of the z-axis, the density information request includes one dimension of the z-axis.

[0189] Alternatively, the receiving end may include third pre-configuration information, and the receiving end may determine the M dimensions based on Example C in the above-mentioned selection method 1. The above-mentioned "sending end" can be replaced with "receiving end" for understanding. Subsequently, the receiving end sends a density information request to the sending end. In another example, both the receiving end and the sending end may include third pre-configuration information, and the density information request may include a sensing task (but not the M dimensions or the number of dimensions M). Then, the receiving end and the sending end may each determine the M dimensions based on the third pre-configuration information and the sensing task.

[0190] In another example, the density information request includes the number of dimensions M after dimensionality reduction (ie, the value of M).

[0191] Specifically, both the sending end and the receiving end may include pre-configuration information (first pre-configuration information or second pre-configuration information, for specific explanation, please refer to the description of Example A or Example B in the above-mentioned selection method one). The receiving end determines M dimensions based on the pre-configuration information, and sends the number of dimensions M to the sending end through a density information request. For example, the receiving end may determine M dimensions based on Example A or Example B in the above-mentioned selection method one, and "sending end" may be replaced with "receiving end" for understanding. For example, the receiving end obtains the data volume of the first distribution information and the second distribution information from the sending end. Subsequently, the receiving end sends a density information request to the sending end. The sending end determines which M dimensions are based on the number of dimensions M in the density information request and the pre-configuration information. For example, if the M dimensions are two dimensions, the x-axis and the y-axis, then the density information request includes the number of dimensions M=2; for another example, if the M dimensions are one dimension, the z-axis, then the density information request includes the number of dimensions M=1.

[0192] It should be added that the density information includes not only the above-mentioned perception data format and second distribution information, but also one or more of the perception data dimension, site information, subspace size, and range of the N-dimensional space.

[0193] In this application, the range of the N-dimensional space, the subspace size, and the second distribution information may be collectively referred to as data.

[0194] The site information includes at least one or more of the following: sensing link ID, transmitter ID (transmitter ID, TX ID), receiver ID (receiver ID, RX ID), transmission time (time), transmission direction (orientation), etc.

[0195] The subspace size and the M-dimensional space are used to jointly determine the M-dimensional subspace. Specifically, the subspace size is used to divide the M-dimensional space into M-dimensional subspaces, and the size of any dimension in the M-dimensional subspace is the subspace size; or, the subspace size and the N-dimensional space are used to jointly determine the N-dimensional subspace. Specifically, the subspace size is used to divide the N-dimensional space into N-dimensional subspaces, and the size of any dimension in the N-dimensional subspace is the subspace size. The perception subspace can also be referred to as a grid, a grid, a subspace, etc., and the subspace size can also be referred to as a size, a grid size, a grid size (grid_size), etc. Exemplarily, the subspace size can be adjusted based on the perception accuracy. Exemplarily, when the error between the coordinates of the first scattering point and the coordinates of the second scattering point (see description below) is greater than the subspace size, the subspace size can be increased.

[0196] The range of N-dimensional space can also be called the perception range. When the N-dimensional space is a three-dimensional space corresponding to the x-axis, y-axis, and z-axis, the range of the N-dimensional space can specifically be the coordinate range of the x, y, and z axes of the N-dimensional space in the world coordinate system, for example, expressed as (x_min, x_max, y_min, y_max, z_min, z_max); when the N-dimensional space is a four-dimensional space corresponding to the x-axis, y-axis, z-axis, and time axis, the range of the N-dimensional space can specifically be the coordinate range of the x, y, z, and time axes of the N-dimensional space in the world coordinate system, for example, expressed as (x_min, x_max, y_min, y_max, z_min, z_max, t_min, t_max). Among them, x_min and x_max are the minimum and maximum coordinates of the x-axis of the N-dimensional space in the world coordinate system, y_min and y_max are the minimum and maximum coordinates of the y-axis of the N-dimensional space in the world coordinate system, z_min and z_max are the minimum and maximum coordinates of the z-axis of the N-dimensional space in the world coordinate system, and t_min and t_max are the minimum and maximum time points of the time axis of the N-dimensional space in the world coordinate system.

[0197] The following focuses on explaining the perception data dimensions, and the perception data dimensions can be expressed in at least the following examples 1 to 3.

[0198] Example 1: The value of the perception data dimension can be the first value or the second value.

[0199] The first value and the second value are different. For example, the first value is 0 and the second value is 1, or the first value is 1 and the second value is 0, etc.

[0200] Furthermore, when the value of the perception data dimension is a second value, the perception data dimension is used to indicate an M-dimensional space. It is understood that the perception data dimension having the second value can be used to indicate that the density information is specifically the second density information, that the distribution information in the density information is specifically the second distribution information, or that the transmitter determines the second distribution information based on the first distribution information.

[0201] Furthermore, when the perception data dimension is used to indicate an M-dimensional space, there are three specific examples:

[0202] In Example 1, the receiving end includes first preconfiguration information, which includes a correspondence between an M-dimensional space and M dimensions, that is, the M dimensions constitute the M-dimensional space. The receiving end can determine the M dimensions based on the perception data dimension and the first preconfiguration information.

[0203] In Example 2, the receiving end includes second preconfiguration information, which includes dimensions to be compressed. The receiving end may determine the dimensions to be compressed based on the perceived data dimensions and the second preconfiguration information. The receiving end determines M dimensions based on the dimensions to be compressed and the N-dimensional space.

[0204] Example 3: Before sending density information to the receiving end, the sending end may send M dimensions corresponding to the M-dimensional space to the receiving end. For example, if M=2, the sending end sends two dimensions, the x-axis and the y-axis, corresponding to the two-dimensional space to the receiving end. For another example, if M=1, the sending end sends one dimension, the z-axis, corresponding to the one-dimensional space to the receiving end.

[0205] For the description of the first pre-configuration information and the second pre-configuration information, please refer to the description of the above selection method 1.

[0206] In other examples, the perception data dimension may also take a first value. When the perception data dimension takes a first value, the perception data dimension is used to indicate an N-dimensional space. It is understood that the perception data dimension taking a first value may be used to indicate that the density information is specifically first density information, that the distribution information in the density information is specifically first distribution information, or that the transmitting end has not processed the first distribution information.

[0207] In this manner, the value of the perception data dimension is the first value or the second value to indicate N-dimensional space or M-dimensional space, which helps to reduce the amount of data occupied by the perception data dimension and the amount of data occupied by density information.

[0208] Example 2: The value of the perception data dimension can be the first value, the second value 1, or the second value 2.

[0209] Among them, the method of taking the value of the perception data dimension as the first value can be referred to the description in the above example one.

[0210] When the perception data dimension takes the second value 1, the perception data dimension is used to indicate an M1-dimensional space, which consists of M1 dimensions. When the perception data dimension takes the second value 2, the perception data dimension is used to indicate an M2-dimensional space, which consists of M2 dimensions, where the M1 dimensions are different from the M2 dimensions. In other words, the M-dimensional space can include either the M1-dimensional space or the M2-dimensional space, where both the M1-dimensional space and the M2-dimensional space are obtained by compressing the N-dimensional space. For example, the M1-dimensional space is a two-dimensional space, and the M2-dimensional space is a one-dimensional space.

[0211] Correspondingly, in the above example 1, the first pre-configuration information includes M1 dimensions corresponding to the M1-dimensional space and M2 dimensions corresponding to the M2-dimensional space; in the above example 2, the second pre-configuration information includes dimension 1 to be compressed and dimension 2 to be compressed, dimension 1 to be compressed and M1 dimensions constitute N dimensions, and dimension 2 to be compressed and M2 dimensions constitute N dimensions; in the above example 3, before sending the density information to the receiving end, the sending end specifically sends M1 dimensions corresponding to the M1-dimensional space and M2 dimensions corresponding to the M2-dimensional space to the receiving end.

[0212] Of course, the value of the perception data dimension may also be other second values, such as a second value of 3 and a second value of 4, where the M3-dimensional space corresponding to the second value 3 is the two-dimensional space corresponding to the y-axis and the z-axis, and the M4-dimensional space corresponding to the second value 4 is the two-dimensional space corresponding to the x-axis and the z-axis, etc. Of course, in future perception methods, the value of the perception data dimension may also have other values, which are not limited by this application.

[0213] In this approach, the perception data dimension takes a first value, a second value 1, or a second value 2, etc., to indicate an N-dimensional space, an M1-dimensional space, or an M2-dimensional space, etc. This helps reduce the amount of data occupied by the perception data dimension and the amount of data occupied by density information. Compared to Example 1, this approach also helps increase the flexibility of indication.

[0214] Example 3: The value of the perception data dimension is M dimensions or N dimensions.

[0215] When the perception data dimension has a value of M dimensions, the perception data dimension having M dimensions can be used to represent that the density information is specifically the second density information, the distribution information in the density information is specifically the second distribution information, or the transmitter determines the second distribution information based on the first distribution information. For example, if M = 2, the two-dimensional space corresponds to the x-axis and y-axis dimensions, and the perception data dimension can have two dimensions; for another example, if M = 1, the one-dimensional space corresponds to the z-axis dimension, and the perception data dimension can have one dimension.

[0216] In addition, the perception data dimension may also be N dimensions. When the perception data dimension is N dimensions, the perception data dimension is used to indicate an N-dimensional space, and the N-dimensional space corresponds to the N dimensions. The perception data dimension having N dimensions may be used to indicate that the density information is specifically the first density information, that the distribution information in the density information is specifically the first distribution information, or that the transmitting end has not processed the first distribution information.

[0217] In this way, M dimensions corresponding to the M-dimensional space or N dimensions corresponding to the N-dimensional space are directly indicated in the perception data dimension, without the need for pre-configuration of the receiving end or the transmitting end, and helps to improve the flexibility of the indication.

[0218] In this application, the perception data dimension may also be referred to as data dimension, data compression dimension, compression dimension, transmission dimension, dimension, etc. This application does not limit the name of the perception data dimension.

[0219] It should be added that, in the above example one, when the value of the perception data dimension is the second value, specifically, the value of the perception data dimension can also be the second value a, the second value b or the second value c. Among them, the second value a, the second value b and the second value c are used to indicate three formats of distribution information of the M-dimensional space and the M-dimensional subspace. Specifically, when the value of the perception data dimension is the second value a, the perception data dimension is used to indicate the M-dimensional space, and the distribution information in the M-dimensional subspace is the third value or the fourth value; when the value of the perception data dimension is the second value b, the perception data dimension is used to indicate the M-dimensional space, and the distribution information in the M-dimensional subspace is the number of non-empty subspaces corresponding to the M-dimensional subspace; when the value of the perception data dimension is the second value c, the perception data dimension is used to indicate the M-dimensional space, and the distribution information in the M-dimensional subspace is the position of the non-empty subspace corresponding to the M-dimensional subspace. That is, the perception data dimension not only has the function of the perception data dimension in the aforementioned embodiment, but also has the function of indicating the perception data format. For example, the first value, the second value a, the second value b, and the third value c are 0, 1, 2, and 3, respectively. This method is also applicable to the above-mentioned Example 2. Accordingly, the second value 1 can be further divided into the second value 1a, the second value 1b, and the third value 1c, which are used to indicate the three formats of the distribution information of the M1-dimensional space and the M1-dimensional subspace; the second value 2 can be further divided into the second value 2a, the second value 2b, and the third value 2c, which are used to indicate the three formats of the distribution information of the M2-dimensional space and the M2-dimensional subspace, and so on.

[0220] It should also be noted that density information may not include the dimensions of the perception data. Instead, the receiver obtains distribution information from the density information and determines the dimensions of the perception data based on the format of the distribution information. For example, when the distribution information is array[Nx][Ny], the number of dimensions representing the perception data is 2. The receiver then determines the dimensions of the perception data based on the number of dimensions 2 and the above pre-configured information.

[0221] Step 702: The sending end sends density information to the receiving end. Correspondingly, the receiving end receives the density information from the sending end.

[0222] In one possible example, the receiving end stores density information. For example, when the base station and SMF are deployed separately, the transmitting end is the SMF, and the receiving end is a base station connected to the SMF. Upon receiving density information from the SMF, the base station stores it. Furthermore, the base station may identify a UE connected to the base station and send the density information to the UE, enabling the UE to perform perception calculations based on the density information.

[0223] In another possible example, the receiving end performs density fusion on the received density information. For example, the receiving end is an SMF, which is connected to multiple base stations (for example, base station A to base station C), and the sending end is one of the multiple base stations connected to the SMF (for example, base station A). Of course, the SMF can not only receive density information A from base station A, but also receive density information B from base station B and density information C from base station C, and then fuse the density information A, density information B and density information C to obtain the fused density information D. Optionally, the SMF can also send the fused density information D to base stations A to C respectively.

[0224] In another possible example, the receiving end performs perception calculation based on the received density information. For example, the transmitting end is a base station, and the receiving end is a UE connected to the base station. The base station sends density information to the UE, and the UE performs perception calculation based on the density information.

[0225] Furthermore, the transmitting end may also send a perception signal to the receiving end. In response, the receiving end receives the perception signal from the transmitting end. The perception signal is scattered by the second scattering point during transmission in the N-dimensional space. The receiving end performs a perception calculation based on the received perception signal and density information, for example, to determine the coordinates of the second scattering point in the M-dimensional space.

[0226] In one possible example, when the receiving end performs perception calculation on the second scattering point in the M-dimensional space based on the received perception signal and density information, specifically, the transmitting end may send the perception signal, the transmission angle, and the transmission time of the perception signal to the receiving end. The receiving end receives the perception signal and determines the reception angle and reception time of the perception signal. The receiving end determines the transmission parameters of the perception signal based on the transmission angle, transmission time, reception angle, and reception time of the perception signal (wherein the transmission parameters may include the transmission delay, transmission angle, and reception angle of the perception signal). The receiving end performs perception calculation on the second scattering point in the M-dimensional space based on the transmission parameters and density information of the perception signal.

[0227] In one possible example, the receiving end performs perception calculation on the second scattering point in the M-dimensional space based on the transmission parameters and density information of the perception signal. Specifically, the receiving end may obtain the perception data format (or the perception data format and the perception data dimension, or the perception data dimension) from the density information, determine the calculation method based on the perception data format, and then input the distribution information and the transmission parameters of the perception signal into the calculation method to obtain the coordinates of the second scattering point in the M-dimensional space.

[0228] In conjunction with the above-mentioned embodiments of Figures 7 to 12, the following provides processes in two specific scenarios. Of course, the following are only two more common specific scenarios applicable to the present invention. Those skilled in the art will appreciate that the present invention can also be applied to other scenarios.

[0229] Figure 13 is a flow chart of a method for a base station (an example of a transmitting end) to send density information to a UE (an example of a receiving end) as provided in this application. In this process, after determining that the transmission resources do not meet the first transmission requirement, the base station performs dimensionality reduction on the first distribution information to obtain second distribution information.

[0230] In step 1301 , the base station determines a physical downlink shared channel (PDSCH) resource. The PDSCH resource is a transmission resource used by the base station to send density information to a UE.

[0231] Step 1302: The base station sends resource scheduling information to the UE, where the resource scheduling information is used to indicate PDSCH resources.

[0232] Correspondingly, the UE receives resource scheduling information from the base station.

[0233] Step 1303: The base station determines a first transmission requirement according to the data volume of the first distribution information.

[0234] Step 1304: The base station determines that the PDSCH resources do not meet the first transmission requirement.

[0235] Step 1305: The base station determines second distribution information according to the PDSCH resources and the first distribution information.

[0236] Step 1306: The base station determines density information (ie, second density information) according to the second distribution information, the sensing data format, and the sensing data dimension.

[0237] Step 1307: The base station sends density information to the UE on the PDSCH resources.

[0238] Correspondingly, the UE receives density information from the base station on the PDSCH resources.

[0239] Step 1308: The UE performs perception calculation based on the density information and the perception signal.

[0240] Among them, the perception signal can be sent by the base station to the UE on other PDSCH resources, or it can be sent to the UE on other downlink resources (such as PDCCH resources, future downlink perception resources, etc.), which is not limited in this application.

[0241] For any details not described above, please refer to the descriptions of the embodiments related to Figures 7 to 12. For example, for any details not described in detail in steps 1303 to 1306, please refer to the descriptions of steps 700 and 701; for any details not described in detail in steps 1307 and 1308, please refer to the description of step 702. Furthermore, for any details not described in detail in step 1306, please refer to the descriptions of steps 901 to 903.

[0242] Figure 14 is a flowchart illustrating a method for transmitting density information from a UE (an example of a transmitting end) to a base station (an example of a receiving end) as provided in this application. In this process, the base station determines M dimensions based on the correspondence between sensing tasks and dimensions, indicates these M dimensions to the UE, and the UE transmits density information of the first scattering point in the M-dimensional space to the base station.

[0243] Step 1401: The base station determines M dimensions corresponding to the sensing task according to the sensing task and third pre-configuration information.

[0244] Step 1402: The base station sends a density information request to the UE. The density information request carries M dimensions corresponding to the sensing task.

[0245] Correspondingly, the UE receives a density information request from the base station.

[0246] Step 1403: The base station sends a perception signal to the UE, and correspondingly, the UE receives the perception signal from the base station.

[0247] In step 1404, the UE determines the coordinates of the first scattering point in the N-dimensional space (ie, first distribution information) according to the sensing signal and the calculation method corresponding to the primary scattering in the dual-static sensing.

[0248] Step 1405: The UE determines second distribution information based on the M dimensions and the first distribution information.

[0249] Step 1406: The UE determines the data volume of the density information (ie, the second density information) according to the data volume of the second distribution information.

[0250] Step 1407: The UE sends a resource scheduling request to the base station, wherein the resource scheduling request includes the data volume of the density information.

[0251] Correspondingly, the base station receives a resource scheduling request from the UE.

[0252] In step 1408, the base station sends resource scheduling information to the UE based on the resource scheduling request. The resource scheduling information indicates the physical uplink shared channel (PUSCH) resources. The PUSCH resources are used by the UE to transmit density information to the base station. Accordingly, the UE receives the resource scheduling information from the base station.

[0253] Step 1409: The UE sends density information to the base station on the PUSCH resources.

[0254] Correspondingly, the base station receives density information from the UE on the PUSCH resources.

[0255] For any details not described above, please refer to the descriptions of the embodiments related to Figures 7 to 12. For example, for any details not described in detail in steps 1401 and 1402, please refer to the descriptions of steps 700 and 701; for any details not described in detail in steps 1404 and 1405, please refer to the description of step 701; for any details not described in detail in step 1409, please refer to the description of step 702. Furthermore, for any details not described in detail in step 1405, please refer to the descriptions of steps 901 to 903.

[0256] It should be added that, in the relevant embodiments of Figures 7 to 14 above, when the transmitting end is a base station, the processing operations of the transmitting end can be performed by the CU in the transmitting end, and the transceiver operations of the transmitting end can be performed by the DU or RU in the transmitting end; or, the processing operations of the transmitting end can be performed by the CU-CP in the transmitting end, and the transceiver operations of the transmitting end can be performed by the DU or RU in the transmitting end.

[0257] For example, the CU may determine density information and send the density information to the DU. The DU may send the density information to the receiving end, or the DU may send the density information to the RU, which then sends it to the receiving end. Similarly, the DU may receive a density information request from the receiving end, or the RU may receive a density information request from the receiving end and send the density information request to the DU. The DU then sends the density information request to the CU. The CU determines the second distribution information based on the density information request and the first distribution information, and then determines the density information based on the second distribution information.

[0258] For another example, the CU-CP may determine density information, and the CU-CP may send the density information to the DU. The DU may send the density information to the receiving end, or the DU may send the density information to the RU, which then sends it to the receiving end. Similarly, the DU may receive a density information request from the receiving end, or the RU may receive a density information request from the receiving end and send the density information request to the DU. Subsequently, the DU sends the density information request to the CU-CP. The CU-CP determines the second distribution information based on the density information request and the first distribution information, and determines the density information based on the second distribution information.

[0259] Similarly, the way the transmitter sends the perception signal to the receiver is similar to the way the transmitter sends the density information to the receiver.

[0260] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0261] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0262] In the relevant embodiments of Figures 7 to 14 above, when the receiving end is a base station, the processing operations of the receiving end can be performed by the CU in the receiving end, and the transceiver operations of the receiving end can be performed by the DU or RU in the receiving end; or, the processing operations of the receiving end can be performed by the CU-CP in the receiving end, and the transceiver operations of the receiving end can be performed by the DU or RU in the receiving end.

[0263] For example, the DU can receive density information from the transmitter, or the RU can receive density information from the transmitter and send the density information to the DU. The DU then sends the density information to the CU. The CU performs perceptual calculations based on the density information. Similarly, the CU can determine a density information request, which it can send to the DU. The DU can send the density information request to the transmitter, or the DU can send the density information request to the RU, which then sends it to the transmitter.

[0264] For another example, the DU can receive density information from the transmitter, or the RU can receive density information from the transmitter and send the density information to the DU. The DU then sends the density information to the CU-CP. The CU-CP performs perceptual calculations based on the density information. Similarly, the CU-CP can determine a density information request, which the CU-CP can send to the DU. The DU can send the density information request to the transmitter, or the DU can send the density information request to the RU, which then sends it to the transmitter.

[0265] Similarly, the way in which the receiving end receives the sensing signal from the sending end is similar to the way in which the receiving end receives the density information from the sending end.

[0266] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0267] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0268] The step numbers of the above-mentioned flowcharts are only an example of the execution process and do not constitute a restriction on the order of execution of the steps. In the embodiments of the present application, there is no strict execution order between the steps that have no timing dependency on each other. Not all the steps shown in the flowcharts are steps that must be executed. Some steps can be deleted based on actual needs on the basis of each flowchart, or other possible steps can be added based on actual needs on the basis of each flowchart. The above focuses on describing the differences between the embodiments. Except for the differences, the embodiments can refer to each other; in the same embodiment, different implementations or different examples can also refer to each other.

[0269] It is understood that, in order to implement the functions in the above embodiments, the transmitting end and the receiving end include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily appreciate that, in conjunction with the units and method steps of the various examples described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in hardware or in a manner driven by computer software depends on the specific application scenario and design constraints of the technical solution.

[0270] Figures 15 and 16 are schematic diagrams of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the transmitter or receiver in the above method embodiments, thereby also achieving the beneficial effects of the above method embodiments.

[0271] In the embodiment of the present application, the communication device may be one of the UEs 120a-120j shown in FIG1 , or the base station 110a or 110b shown in FIG1 . Alternatively, the communication device may be any base station shown in FIG4 , or any UE shown in FIG4 , or the SMF shown in FIG4 . Alternatively, the communication device may be a module (such as a chip) applied to an SMF, a UE, or a base station.

[0272] As shown in Figure 15, a communication device 1500 includes a processing module 1510 and a transceiver module 1520. The communication device 1500 is used to implement the functions of the transmitting end or the receiving end in the above-mentioned method embodiments related to Figures 7 to 14.

[0273] When the communication device 1500 is used to implement the functions of the transmitting end in the method embodiments related to FIG. 7 to FIG. 14 :

[0274] Processing module 1510 is configured to determine density information. Transceiver module 1520 is configured to transmit the density information. The density information includes a sensing data format and distribution information of a first scattering point in an N-dimensional space in an M-dimensional space. The sensing data format indicates the format of the distribution information of the first scattering point in the M-dimensional space. Both M and N are positive integers, and N is greater than M.

[0275] In one possible implementation, before the processing module 1510 determines the density information, the processing module is also used to determine that the transmission resources do not meet the transmission requirements, and the transmission requirements are determined based on the distribution information of the first scattering point in the N-dimensional space; or, the processing module 1510 is also used to determine M dimensions based on the correspondence between the perception task and the dimension; or, the transceiver module 1520 is also used to receive a density information request, and the density information request is used to indicate M dimensions.

[0276] In one possible implementation, the transceiver module 1520 is further used to send a perception signal, which is scattered through a second scattering point when transmitted in an N-dimensional space. The distribution information of the perception signal and the first scattering point in the M-dimensional space is used to perform perception calculation on the second scattering point.

[0277] When the communication device 1500 is used to implement the functions of the receiving end in the method embodiments related to FIG. 7 to FIG. 14 :

[0278] The transceiver module 1520 is configured to receive density information. The processing module 1510 is configured to perform perception calculations based on the density information. The density information includes a perception data format and distribution information of a first scattering point in an N-dimensional space in an M-dimensional space. The perception data format indicates the format of the distribution information of the first scattering point in the M-dimensional space. M and N are both positive integers, and N is greater than M.

[0279] In a possible implementation, before receiving the density information, the transceiver module 1520 is further configured to send a density information request, where the density information request is used to indicate M dimensions.

[0280] In one possible implementation, the transceiver module 1520 is further configured to receive a perception signal, which is scattered by a second scattering point when transmitted in an N-dimensional space. Accordingly, when performing perception calculations based on density information, the processing module 1510 is specifically configured to perform perception calculations on the second scattering point based on the perception signal and distribution information of the first scattering point in the M-dimensional space.

[0281] For a more detailed description of the above-mentioned processing module 1510 and the transceiver module 1520, reference can be made to the relevant descriptions in the relevant method embodiments of Figures 7 to 14, and no further details are given here.

[0282] As shown in Figure 16, communication device 1600 includes a processor 1610 and an interface circuit 1620. Processor 1610 and interface circuit 1620 are coupled to each other. It will be appreciated that interface circuit 1620 may be a transceiver or an input / output circuit. Optionally, communication device 1600 may further include a memory 1630 for storing instructions executed by processor 1610, input data required by processor 1610 to execute instructions, or data generated by processor 1610 after executing instructions.

[0283] When the communication device 1600 is used to implement the method in the relevant method embodiments of Figures 7 to 14, the processor 1610 is used to implement the functions of the above-mentioned processing module 1510, and the interface circuit 1620 is used to implement the functions of the above-mentioned transceiver module 1520.

[0284] When the above-mentioned communication device is a module applied to the transmitting end, the module implements the functions of the transmitting end in the above-mentioned method embodiment. The module receives information from other modules in the transmitting end (such as a radio frequency module or antenna), and the information is sent by the receiving end to the transmitting end; or the module sends information to other modules in the transmitting end (such as a radio frequency module or antenna), and the information is sent by the transmitting end to the receiving end. When the transmitting end is a base station, the module can be the baseband chip of the base station, or it can be a DU or other module. The DU here can be an O-DU in the O-RAN architecture.

[0285] When the communication device is a module implemented in a receiving end, the module implements the functions of the receiving end in the above method embodiments. The module receives information from other modules in the receiving end (such as a radio frequency module or antenna), which is information sent by the transmitting end to the receiving end; or the module sends information to other modules in the receiving end (such as a radio frequency module or antenna), which is information sent by the receiving end to the transmitting end.

[0286] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0287] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a transmitting end or a receiving end. Of course, the processor and storage medium can also be present in a transmitting end or a receiving end as discrete components.

[0288] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media, such as floppy disks, hard disks, or magnetic tapes; optical media, such as digital video disks; or semiconductor media, such as solid-state drives. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0289] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0290] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0291] In the text descriptions of this application, the character " / " generally indicates an "or" relationship between the preceding and following entities; in formulas of this application, the character " / " indicates a "division" relationship between the preceding and following entities. "Includes at least one of A, B, and C" can mean: includes A; includes B; includes C; includes A and B; includes A and C; includes B and C; includes A, B, and C.

[0292] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A density information transmission method, characterized in that: include: Determine density information; sending the density information; The density information includes a perception data format and distribution information of the first scattering point in the N-dimensional space in the M-dimensional space, and the perception data format is used to indicate the format of the distribution information of the first scattering point in the M-dimensional space; Both M and N are positive integers, and N is greater than M.

2. The method according to claim 1, wherein The density information also includes perception data dimensions; When the perception data dimension is a first value, the perception data dimension is used to indicate the N-dimensional space; When the perception data dimension is a second value, the perception data dimension is used to indicate the M-dimensional space.

3. The method according to claim 1 or 2, wherein: The M-dimensional space includes an M-dimensional subspace, and the M-dimensional subspace corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer; The distribution information of the first scattering points in the M-dimensional space includes the distribution information of the first scattering points in the M-dimensional subspace; The distribution information of the first scattering points in the M-dimensional subspace is: A third value or a fourth value, wherein the third value is used to indicate that the number of non-empty subspaces is greater than 0, and the fourth value is used to indicate that the number of non-empty subspaces is equal to 0; or the number of non-empty subspaces; or, The position of the non-empty subspace in the K N-dimensional subspaces; The non-empty subspace is an N-dimensional subspace including the first scattering point among the K N-dimensional subspaces.

4. The method according to any one of claims 1 to 3, wherein Before determining the density information, the method further includes: determining that the transmission resources do not meet a transmission requirement, where the transmission requirement is determined based on distribution information of the first scattering points in an N-dimensional space; or Determine the M dimensions corresponding to the M-dimensional space according to the corresponding relationship between the perception task and the dimension; or, A density information request is received, where the density information request is used to indicate M dimensions corresponding to the M-dimensional space.

5. The method according to any one of claims 1 to 4, wherein The N-dimensional space is a three-dimensional space corresponding to the x-axis, the y-axis, and the z-axis, and the M-dimensional space is a two-dimensional space corresponding to the x-axis and the y-axis.

6. The method according to any one of claims 1 to 5, wherein Also includes: A perception signal is sent, where the perception signal is scattered via a second scattering point when transmitted in the N-dimensional space, and distribution information of the perception signal and the first scattering point in the M-dimensional space is used to perform perception calculation on the second scattering point.

7. A density information transmission method, characterized in that: include: receiving density information; Performing perception calculation based on the density information; The density information includes a perception data format and distribution information of the first scattering point in the N-dimensional space in the M-dimensional space, and the perception data format is used to indicate the format of the distribution information of the first scattering point in the M-dimensional space; Both M and N are positive integers, and N is greater than M.

8. The method according to claim 7, wherein The density information also includes perception data dimensions; When the perception data dimension is a first value, the perception data dimension is used to indicate the N-dimensional space; When the perception data dimension is a second value, the perception data dimension is used to indicate the M-dimensional space.

9. The method according to claim 7 or 8, wherein The M-dimensional space includes an M-dimensional subspace, and the M-dimensional subspace corresponds to K N-dimensional subspaces in the N-dimensional space, where K is a positive integer; The distribution information of the first scattering points in the M-dimensional space includes the distribution information of the first scattering points in the M-dimensional subspace; The distribution information of the first scattering points in the M-dimensional subspace is: A third value or a fourth value, wherein the third value is used to indicate that the number of non-empty subspaces is greater than 0, and the fourth value is used to indicate that the number of non-empty subspaces is equal to 0; or the number of non-empty subspaces; or, The position of the non-empty subspace in the K N-dimensional subspaces; The non-empty subspace is an N-dimensional subspace including the first scattering point among the K N-dimensional subspaces.

10. The method according to any one of claims 7 to 9, wherein Before receiving the density information, the method further includes: A density information request is sent, where the density information request is used to indicate M dimensions corresponding to the M-dimensional space.

11. The method according to any one of claims 7 to 10, wherein: The N-dimensional space is a three-dimensional space corresponding to the x-axis, the y-axis, and the z-axis, and the M-dimensional space is a two-dimensional space corresponding to the x-axis and the y-axis.

12. The method according to any one of claims 7 to 11, wherein: Also includes: receiving a sensing signal, wherein the sensing signal is scattered via a second scattering point when transmitted in the N-dimensional space; The performing perception calculation according to the density information includes: Performing perception calculation on the second scattering point according to the perception signal and distribution information of the first scattering point in the M-dimensional space.

13. A communication device, characterized in that: The method comprises a module for executing the method according to any one of claims 1 to 6, or a module for executing the method according to any one of claims 7 to 12.

14. A communication device, characterized in that: The method comprises a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method according to any one of claims 1 to 6 through a logic circuit or by executing code instructions, or the processor is used to implement the method according to any one of claims 7 to 12 through a logic circuit or by executing code instructions.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 6 is implemented, or the method according to any one of claims 7 to 12 is implemented.

16. A computer program product, characterized in that The computer program product includes a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method according to any one of claims 1 to 6 is implemented, or the method according to any one of claims 7 to 12 is implemented.

17. A chip system, characterized in that: It includes a logic circuit and an input / output circuit, wherein the input / output circuit is used to communicate with other communication devices outside the chip system, and the logic circuit is used to execute the method as described in any one of claims 1 to 6, or the logic circuit is used to execute the method as described in any one of claims 7 to 12.

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