Sensing method and corresponding apparatus

Abstract

The present application provides a sensing method, which is applied to integrated sensing and communication. A sensing node can determine material boundary information and a scattering coefficient of a sensing target, then the material boundary information and the scattering coefficient are reported to a central node, and the central node can determine scattering coefficient entropy of a corresponding region on the basis of the material boundary information and the scattering coefficient, so that the accuracy of the scattering coefficient of the region is evaluated by means of the scattering coefficient entropy of the region, thereby initiating a next round of targeted sensing measurement process. In this way, scattering coefficients of different regions can be measured in a targeted manner by means of the scattering coefficient entropy, and the accuracy of scattering coefficient estimation can be improved by means of multiple rounds of sensing measurement.

Description

A perception method and corresponding apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410565516.4, filed on May 8, 2024, and entitled "A perception method and corresponding apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, in particular to a perception method and corresponding apparatus. BACKGROUND

[0003] A perception system realizes perception of a target by receiving echo signals. In multi-node joint perception, multiple perception nodes respectively perform perception to obtain respective perception results, and then a center node fuses the perception results of the perception nodes to obtain a joint perception result, thereby reducing the uncertainty of perception and improving the performance of perception.

[0004] Currently, in a perception measurement process, a back-projection imaging algorithm can be used to estimate the scattering coefficient of a target in a region of interest (ROI). However, the scattering coefficient estimated by the back-projection imaging algorithm is affected by transmission channel parameters such as antenna gain, path loss, direction angle of the antenna, and elevation angle, and the accuracy of the estimated scattering coefficient is not high. Moreover, different scattering points on the target affect each other, especially in the case where the target is composed of multiple materials, different scattering points of different materials interfere with each other, resulting in lower accuracy of the estimated scattering coefficient.

[0005] Because the accuracy of the scattering coefficient measured by different perception nodes is low, even if the center node performs joint perception, the accuracy of the scattering coefficient cannot be improved. Therefore, how to improve the accuracy of the scattering coefficient estimation in the perception process has become a problem to be solved. SUMMARY

[0006] The present application provides a perception method for improving the accuracy of scattering coefficient estimation. The present application also provides corresponding apparatus, computer-readable storage medium, and computer program product, etc.

[0007] A first aspect of this application provides a sensing method applied to a first communication device. The method includes: receiving first information from a second communication device; wherein the first information includes first material boundary information and / or a first scattering coefficient of a sensing target determined by the second communication device; wherein the first material boundary information is used to indicate the boundary of a first region, and the first scattering coefficient is used to indicate the scattering coefficient of the first region estimated by the second communication device; and transmitting the scattering coefficient entropy of the first region, the scattering coefficient entropy of the first region being determined based on the first scattering coefficient associated with the first information, and the scattering coefficient entropy of the first region being used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

[0008] In this application, the first communication device can be a central node, which is a node that configures sensing parameters for the transmitting end or receiving end of the sensing signal, and / or a node that summarizes the sensing results. The central node can be an access network device or a chip within the access network device; of course, the central node can also be other types of devices. The second communication device can be a sensing node, such as a receiving end or transmitting end of the sensing signal. The second communication device can be an access network device, a terminal device, or a chip within the access network device or a chip within the terminal device.

[0009] In this application, there may be one or more second communication devices. When there are multiple second communication devices, each second communication device will send a first piece of information. Because the positions of the second communication devices are usually different, the sensing positions and sensing angles for the same sensing target are usually different. Therefore, even if the first material boundary information is the same in the first information sent by different second communication devices, the first scattering coefficients may be different. Of course, they may also be the same, or the first scattering coefficients corresponding to the same first material boundary information in some second communication devices may be the same.

[0010] In this application, the first material boundary information can include the boundary information of various material components in the entire sensing target. For example, taking a building as an example, the first material boundary information can include the boundary information of various single material components such as glass, wood, and stone in the building. It should be noted that even components of the same material can belong to different components depending on their position on the building, such as windows in different locations. The first material boundary information can also be the boundary information of a single material component in the sensing target, such as the boundary information of a window in a building.

[0011] In this application, the first scattering coefficient may include the scattering coefficients corresponding to the regions formed by the boundary information of various material components in the entire sensing target, such as the scattering coefficients corresponding to the glass component, the wood component, and the stone component. Of course, the first material boundary information may also be the scattering coefficient of the region formed by the boundary information of a single material component in the sensing target, such as the scattering coefficient of a glass window.

[0012] In this application, the first region may include various small regions formed by the boundary information of various material components in the entire sensing target. The first region may also be a small region formed by the boundary information of a single material component in the sensing target.

[0013] In this application, if the first region comprises multiple smaller regions, the scattering coefficient entropy of the first region may include the scattering coefficient entropy corresponding to each smaller region. If the first region is a smaller region, the scattering coefficient entropy of the first region is the scattering coefficient entropy of that smaller region. The scattering coefficient entropy of each smaller region is used to describe the accuracy, determinism, or chaos of the scattering coefficient estimated by the second communication device for that smaller region.

[0014] In this application, the first scattering coefficient associated with the first information may be the first scattering coefficient included in the first information, or the first scattering coefficient found through the first information.

[0015] In the first aspect mentioned above, the first communication device can determine the scattering coefficient entropy of the first region based on the scattering coefficient of the first region, and then determine the accuracy of the first scattering coefficient estimated by the second communication device through the scattering coefficient entropy of the first region, and send the scattering coefficient entropy of the first region to the second communication device to instruct the second communication device to perform the next round of sensing measurement. Through multiple rounds of sensing measurement, the accuracy of scattering coefficient estimation can be improved.

[0016] In one possible implementation, before receiving the first information from the second communication device, the method further includes: sending second information to the second communication device; wherein the second information includes second material boundary information of the sensing target and / or the scattering coefficient entropy corresponding to the second material boundary information, and the second information is used to determine the first region.

[0017] In this possible implementation, the first communication device can first send the second material boundary information and / or the scattering coefficient entropy corresponding to the second material boundary information to the second communication device. In this way, the second communication device can determine whether the accuracy of the scattering coefficient in the corresponding region meets the requirements based on the scattering coefficient entropy corresponding to the second material boundary information, and thus adjust the sensing measurement range to specifically measure areas with low scattering coefficient accuracy.

[0018] In one possible implementation, the above step of sending the scattering coefficient entropy of the first region includes:

[0019] If the scattering coefficient entropy of the first region does not meet the accuracy requirement of the first scattering coefficient, then the scattering coefficient entropy of the first region is sent.

[0020] In one possible implementation, if the entropy of the scattering coefficient of the first region meets the accuracy requirement of the first scattering coefficient, then the sensing result is determined.

[0021] In this possible implementation, whether the scattering coefficient entropy of the first region meets the accuracy requirement of the first scattering coefficient can be determined by a threshold. For example, if the scattering coefficient entropy of the first region is less than the first threshold, it can be determined that the scattering coefficient of the first region meets the accuracy requirement. If the scattering coefficient entropy of the first region is greater than the first threshold, it can be determined that the scattering coefficient of the first region does not meet the accuracy requirement. Of course, the number of iterations can also be used to determine whether the scattering coefficient entropy of the first region meets the accuracy requirement of the first scattering coefficient. For example, N iterations are sufficient to meet the requirement. Alternatively, a combination of threshold and iteration methods can be used, or other determination methods can be employed. This application does not limit the specific methods used. In this application, the first communication device determines whether to initiate the next round of measurement by judging the scattering coefficient entropy of the first region, thereby improving the accuracy of subsequent operations.

[0022] In one possible implementation, the above step of sending the scattering coefficient entropy of the first region includes sending a first perceived quality indication corresponding to the scattering coefficient entropy of the first region.

[0023] In this possible implementation, the first perceived quality indicator can be a numerical value, which can represent the approximate range, upper limit, or lower limit of the scattering coefficient entropy of the first region. Indicating the scattering coefficient entropy of the first region using the first perceived quality indicator can reduce data transmission volume and increase transmission rate.

[0024] In one possible implementation, the method further includes: determining a first perceived quality indicator from multiple mapping relationships based on the scattering coefficient entropy of the first region; wherein the multiple mapping relationships are correspondences between different perceived quality indicators and corresponding scattering coefficient entropy thresholds.

[0025] In this possible implementation, multiple mapping relationships can be set to determine the corresponding first sensing quality indicator for the scattering coefficient entropy of the first region. This can improve the efficiency of determining the first sensing quality indicator.

[0026] In one possible implementation, a correspondence between a perceived quality indicator and a corresponding scattering coefficient entropy threshold is sent to a second communication device.

[0027] In this possible implementation, when the first sensing quality indicator is used to indicate the scattering coefficient entropy of the first region, the correspondence between the sensing quality indicator and the corresponding scattering coefficient entropy threshold is sent to the second communication device, which enables the second communication device to quickly determine the scattering coefficient entropy of the first region.

[0028] In one possible implementation, the first information includes at least two of the following: an identifier of a first region, first material boundary information, or a first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

[0029] In this possible implementation, the first information may include at least two of the following: the identifier of the first region, the boundary information of the first material, or the first scattering coefficient, providing first information in various forms.

[0030] In one possible implementation, the second information includes at least two of the following: an identifier of the second region, second material boundary information, or scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region, and the identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

[0031] In this possible implementation, the second information includes at least two of the following: the identifier of the second region, the boundary information of the second material, or the entropy of the scattering coefficient corresponding to the boundary information of the second material, thus providing second information in multiple forms.

[0032] In one possible implementation, the method further includes: sending format information to a second communication device, the format information being used to indicate the format used for transmitting the first information and / or the second information.

[0033] In this possible implementation, the first communication device can agree with the second communication device on the format of the first information and / or the second information in advance. This can improve the efficiency of the first communication device in receiving the first information and the efficiency of the second communication device in receiving the second information.

[0034] In one possible implementation, the scattering coefficient entropy of the first region can be determined by the following relationship:

[0035] Among them, H n Let K represent the scattering coefficient entropy of region n in the target being sensed, K represent the number of second communication devices, and N represent a given threshold number of second communication devices. Let R represent the probability distribution among K second communication devices measuring region n, where region n is any one of multiple single-material regions of the target being sensed; where,

[0036] in, The number of second communication devices is to estimate the scattering coefficient of region n as R.

[0037] A second aspect of this application provides a sensing method, comprising: determining first material boundary information of a first region of a sensing target, and a first scattering coefficient of the first region; wherein the first material boundary information is used to indicate the boundary of the first region; and sending first information to a first communication device, the first information including the first material boundary information and / or the first scattering coefficient, the first material boundary information and / or the first scattering coefficient being used by the first communication device to determine the scattering coefficient entropy of the first region, the scattering coefficient entropy of the first region being used to indicate the accuracy of the first scattering coefficient estimated by a second communication device.

[0038] In the second aspect described above, determining the first material boundary information of the first region of the sensing target and the first scattering coefficient of the first region, and sending the first material boundary information and / or the first scattering coefficient to the first communication device, enables the first communication device to determine the scattering coefficient entropy of the first region, and then determine the accuracy of the first scattering coefficient estimated by the second communication device based on the scattering coefficient entropy of the first region. In this way, the next round of sensing measurement can be performed based on the scattering coefficient entropy of the first region, and through multiple rounds of sensing measurement, the accuracy of the scattering coefficient estimation can be improved.

[0039] In one possible implementation, before determining the first material boundary information of the first region of the sensing target and the first scattering coefficient of the first region, the method further includes: receiving second information from a first communication device; wherein the second information includes the second material boundary information of the sensing target and / or the scattering coefficient entropy corresponding to the second material boundary information; and determining the first region based on the second information.

[0040] In this possible implementation, the second communication device can determine whether the accuracy of the scattering coefficient in the corresponding region meets the requirements based on the scattering coefficient entropy corresponding to the boundary information of the second material. In this way, the range of sensing measurement can be adjusted to specifically measure the region where the accuracy of the scattering coefficient is not high.

[0041] In one possible implementation, the method further includes: receiving the scattering coefficient entropy of a first region from a first communication device or a first perceived quality indication corresponding to the scattering coefficient entropy of the first region.

[0042] In this possible implementation, the first perceived quality indicator can be a numerical value, which can represent the approximate range, upper limit, or lower limit of the scattering coefficient entropy of the first region. Indicating the scattering coefficient entropy of the first region using the first perceived quality indicator can reduce data transmission volume and increase transmission rate.

[0043] In one possible implementation, the method further includes: determining a corresponding scattering coefficient entropy threshold from multiple mapping relationships based on a first perceived quality indicator; wherein the scattering coefficient entropy threshold corresponding to the first perceived quality indicator is not greater than or not less than the scattering coefficient entropy of the first region; and the multiple mapping relationships are correspondences between different perceived quality indicators and their corresponding scattering coefficient entropy thresholds.

[0044] In this possible implementation, multiple mapping relationships can be received in advance from the first communication device, and then the scattering coefficient entropy threshold corresponding to the first sensing quality indicator can be determined from these multiple mapping relationships. This improves the efficiency of determining the first sensing quality indicator.

[0045] In one possible implementation, the first scattering coefficient is the average scattering coefficient of the center of the first region, and the center of the first region is determined by the boundary information of the first material.

[0046] In this possible implementation, since the center of the first region is least affected by scattering from other materials, using the average scattering coefficient of the center of the first region as the first scattering coefficient can improve the accuracy of the first scattering coefficient.

[0047] In one possible implementation, the first information includes at least two of the following: an identifier of a first region, first material boundary information, or a first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

[0048] In this possible implementation, the first information may include at least two of the following: the identifier of the first region, the boundary information of the first material, or the first scattering coefficient, providing first information in various forms.

[0049] In one possible implementation, the second information includes at least two of the following: an identifier of the second region, second material boundary information, or scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region, and the identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

[0050] In this possible implementation, the second information includes at least two of the following: the identifier of the second region, the boundary information of the second material, or the entropy of the scattering coefficient corresponding to the boundary information of the second material, thus providing second information in multiple forms.

[0051] In one possible implementation, the method further includes: receiving format information from a first communication device, the format information indicating the format used to transmit the first information and / or the second information.

[0052] In this possible implementation, the first communication device can agree with the second communication device on the format of the first information and / or the second information in advance. This can improve the efficiency of the first communication device in receiving the first information and the efficiency of the second communication device in receiving the second information.

[0053] A third aspect of this application provides a communication device, which can be a first communication device, including: a transceiver module and a processing module;

[0054] A transceiver module is used to receive first information from a second communication device; wherein the first information includes first material boundary information and / or first scattering coefficient of a sensing target determined by the second communication device; wherein the first material boundary information is used to indicate the boundary of a first region, and the first scattering coefficient is used to indicate the scattering coefficient of the first region estimated by the second communication device.

[0055] The processing module is used to determine the scattering coefficient entropy of the first region;

[0056] The transceiver module is also used to transmit the scattering coefficient entropy of a first region, which is determined based on a first scattering coefficient associated with the first information. The scattering coefficient entropy of the first region is used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

[0057] In one possible implementation, the transceiver module is further configured to send second information to the second communication device; wherein the second information includes second material boundary information of the sensing target and / or scattering coefficient entropy corresponding to the second material boundary information, and the second information is used to determine the first region.

[0058] In one possible implementation, the transceiver module is configured to send the scattering coefficient entropy of the first region if the scattering coefficient entropy of the first region does not meet the accuracy requirement of the first scattering coefficient.

[0059] In one possible implementation, the processing module is used to determine the sensing result if the scattering coefficient entropy of the first region meets the accuracy requirement of the first scattering coefficient.

[0060] In one possible implementation, the transceiver module is used to send a first perceived quality indication corresponding to the scattering coefficient entropy of the first region.

[0061] In one possible implementation, the processing module is used to determine a first perceived quality indicator from multiple mapping relationships based on the scattering coefficient entropy of the first region; wherein the multiple mapping relationships are the correspondence between different perceived quality indicators and corresponding scattering coefficient entropy thresholds.

[0062] In one possible implementation, the transceiver module is used to send the correspondence between the perceived quality indication and the corresponding scattering coefficient entropy threshold to the second communication device.

[0063] In one possible implementation, the first information includes at least two of the following: an identifier of a first region, first material boundary information, or a first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

[0064] In one possible implementation, the second information includes at least two of the following: an identifier of the second region, second material boundary information, or scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region, and the identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

[0065] In one possible implementation, the transceiver module is further configured to send format information to the second communication device, the format information being used to indicate the format used for transmitting the first information and / or the second information.

[0066] In one possible implementation, the scattering coefficient entropy of the first region can be determined by the following relationship:

[0067] Among them, H n Let K represent the scattering coefficient entropy of region n in the target being sensed, K represent the number of second communication devices, and N represent a given threshold number of second communication devices. Let represent the probability distribution of measuring the scattering coefficient R in region n from among K second communication devices in region n; where,

[0068] in, The number of second communication devices is to estimate the scattering coefficient of region n as R.

[0069] A fourth aspect of this application provides a communication device, which can be a second communication device that communicates with a first communication device, the communication device comprising: a transceiver module and a processing module;

[0070] The processing module is used to determine the first material boundary information of the first region of the perceived target, and the first scattering coefficient of the first region; wherein the first material boundary information is used to indicate the boundary of the first region;

[0071] The transceiver module is used to send first information to a first communication device. The first information includes first material boundary information and / or a first scattering coefficient. The first material boundary information and / or the first scattering coefficient are used by the first communication device to determine the scattering coefficient entropy of a first region. The scattering coefficient entropy of the first region is used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

[0072] In one possible implementation, the transceiver module is further configured to receive second information from the first communication device; wherein the second information includes second material boundary information of the sensing target and / or scattering coefficient entropy corresponding to the second material boundary information; and to determine the first region based on the second information.

[0073] In one possible implementation, the transceiver module is further configured to receive the scattering coefficient entropy of a first region from the first communication device or a first sensing quality indication corresponding to the scattering coefficient entropy of the first region.

[0074] In one possible implementation, the processing module is used to determine the corresponding scattering coefficient entropy threshold from multiple mapping relationships based on the first perceived quality indicator; wherein the scattering coefficient entropy threshold corresponding to the first perceived quality indicator is not greater than or not less than the scattering coefficient entropy of the first region; the multiple mapping relationships are the correspondence between different perceived quality indicators and their corresponding scattering coefficient entropy thresholds.

[0075] In one possible implementation, the first scattering coefficient is the average scattering coefficient of the center of the first region, and the center of the first region is determined by the boundary information of the first material.

[0076] In one possible implementation, the first information includes at least two of the following: an identifier of a first region, first material boundary information, or a first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

[0077] In one possible implementation, the second information includes at least two of the following: an identifier of the second region, second material boundary information, or scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region, and the identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

[0078] In one possible implementation, the transceiver module is further configured to receive format information from the first communication device, the format information being used to indicate the format used for transmitting the first information and / or the second information.

[0079] A fifth aspect of this application provides a communication device including a processor. The processor is configured to call and run a computer program stored in a memory, causing the processor to implement as described in the first aspect or any of the implementations of the first aspect.

[0080] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0081] Optionally, the communication device includes a memory in which a computer program is stored.

[0082] The communication device mentioned in the fifth aspect above can be a device or a chip (system) in a device.

[0083] A sixth aspect of this application provides a communication device including a processor. The processor is configured to invoke and execute a computer program stored in a memory, such that the processor implements as described in the second aspect or any of the implementations in the second aspect.

[0084] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0085] Optionally, the communication device includes a memory in which a computer program is stored.

[0086] The communication device described in the sixth aspect above can be a device or a chip (system) in a device.

[0087] The seventh aspect of this application provides a communication device, which may be a first communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the first communication device that corresponds to the execution of the methods / operations / steps / actions described in the first aspect.

[0088] The eighth aspect of this application provides a communication device, which may be a second communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the second communication device that corresponds to the execution of the methods / operations / steps / actions described in the second aspect.

[0089] The ninth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0090] The tenth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0091] The eleventh aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0092] The twelfth aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0093] The thirteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the first aspect or any implementation thereof.

[0094] Optionally, the memory may be located inside or outside the chip device.

[0095] The fourteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the second aspect or any implementation thereof described above.

[0096] Optionally, the memory may be located inside or outside the chip device.

[0097] The fifteenth aspect of this application provides a communication system, which includes a first communication device and a second communication device. The first communication device is used to execute the first aspect or any one of the implementations of the first aspect, and the second communication device is used to execute the second aspect or any one of the implementations of the second aspect.

[0098] The technical effects of the third aspect or any possible implementation of the third aspect, the fifth aspect, the seventh aspect, the ninth aspect, the eleventh aspect, the thirteenth aspect or the fifteenth aspect can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here.

[0099] The technical effects of the fourth aspect or any possible implementation of the fourth aspect, the sixth aspect, the eighth aspect, the tenth aspect, the twelfth aspect or the fourteenth aspect can be found in the technical effects of the second aspect or different possible implementations of the second aspect, and will not be repeated here. Attached Figure Description

[0100] Figure 1A is a schematic diagram of an example of a perception scenario provided in an embodiment of this application;

[0101] Figure 1B is another example schematic diagram of the perception scenario provided in the embodiments of this application;

[0102] Figure 2 is a schematic diagram of a boundary example provided in an embodiment of this application;

[0103] Figure 3 is a schematic diagram of an embodiment of the sensing method provided in this application;

[0104] Figure 4A is a schematic diagram showing the relationship between different materials provided in an embodiment of this application;

[0105] Figure 4B is an example schematic diagram of the perception results of different sensing nodes provided in the embodiments of this application;

[0106] Figure 4C is a schematic diagram of an example of first or second information in matrix form provided in an embodiment of this application;

[0107] Figure 5 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0108] Figure 6 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0109] Figure 7 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0110] Figure 8 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0111] Figure 9 is a structural schematic diagram of a communication device provided in an embodiment of this application;

[0112] Figure 10 is another structural schematic diagram of the communication device provided in an embodiment of this application;

[0113] Figure 11 is another structural schematic diagram of the communication device provided in an embodiment of this application. Detailed Implementation

[0114] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. As those skilled in the art will understand, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0115] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0116] This application provides a sensing method to improve the accuracy of scattering coefficient estimation. This application also provides corresponding apparatus, computer-readable storage media, and computer program products. These are described in detail below.

[0117] For ease of understanding, the technical terms involved in the embodiments of this application are briefly introduced below:

[0118] The technical solutions of this application can be applied to various communication systems, such as: satellite communication, 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, universal mobile telecommunication system (UMTS), mobile communication systems after 5G networks (e.g., 6G mobile communication systems), vehicle to everything (V2X) communication systems, etc.

[0119] In addition to having stronger communication capabilities, the aforementioned communication system also possesses sensing capabilities, making it an integrated communication and sensing system. An integrated communication and sensing system means that the system can communicate through communication signals (which can also be described as communication channels) and perform sensing and measurement through sensing signals (which can also be described as sensing channels).

[0120] In this application, "perception" refers to using the transmission, reflection, and scattering of radio waves (radio frequency signals) to sense the surrounding environment and detect targets. For example, in vehicle-to-everything (V2X) systems, sensing signals are used to detect other vehicles or objects around vehicles; in imaging systems, sensing signals are used to image target points (buildings, vehicles, and other tangible objects) in the environment. Of course, the communication system in this application can also be an industrial automation system or other communication systems that require sensing.

[0121] The communication system described in this application can be a communication system based on orthogonal frequency division multiplexing (OFDM) and / or time division multiplexing (TDM), or a communication system or communication and sensing system based on frequency modulated continuous waveform (FMCW).

[0122] To facilitate understanding of the embodiments of this application, the terminology used in this application will be briefly introduced below.

[0123] 1. Sensing Node: A communication device used for sensing, which may include a transmitter (Tx), a receiver (Rx), or a transceiver integrated communication device.

[0124] 2. Transmitter: A communication device that transmits communication signals and / or sensing signals (SS), also known as a transmitting node or transmitting device.

[0125] 3. Receiver: A communication device that receives the echo signal of communication signals and / or sensing signals; it may also be called a receiving node or receiving device.

[0126] 4. Sensing Signal: This refers to the radio frequency signal used to sense the environment or target. SS can be a sensing reference signal (SERS), a positioning reference signal (PRS), or a sounding reference signal (SRS), etc. Sensing signals can be transmitted in the form of beams.

[0127] 5. Echo signal (ES): refers to the signal after the sensing signal has been transmitted, reflected or scattered. The sensing result can be determined by measuring the echo signal, which can be received by beamforming.

[0128] 6. Beam: A beam is a communication resource. A beam can be wide, narrow, or other types of beams. The technology used to form a beam can be beamforming technology or other techniques. Beamforming technology can specifically be digital beamforming technology, analog beamforming technology, and hybrid digital or analog beamforming technology. Different beams can be considered different resources. The beam used to transmit signals can be called the transmission beam (Tx beam), and the beam used to receive signals can be called the reception beam (Rx beam). The transmission beam refers to the distribution of signal strength in different directions in space after the signal is transmitted through the antenna, and the reception beam refers to the distribution of signal strength in different directions in space of the wireless signal received from the antenna.

[0129] 7. Perceived target: refers to the target object in the environment, such as buildings, vehicles, or other objects. Perceived targets may include materials of one or more types, such as the materials of buildings, which may include glass, wood, stone, steel, etc.

[0130] 8. Sensing result (SR): refers to the result of sensing the target calculated from the echo signal, such as the position, material boundary, or scattering coefficient of the target.

[0131] 9. Material Boundary: This refers to the boundary between different materials. For example, the junction between a glass window and a stone wall on a building can be considered the boundary of the glass window, or it can be the boundary of the stone wall. Material boundaries can be represented by the coordinates of the boundary points or by boundary equations. Different materials have different scattering coefficients, so a material boundary can also be understood as the set of points where the scattering coefficient changes significantly.

[0132] 10. Scattering Coefficient: The scattering coefficient describes the strength of the scattering effect of various scattering elements in the atmosphere on the radiative flux. The scattering coefficient refers to the radar reflectivity per unit area or the radar cross section per unit illuminated area. It is a measure of the interaction between the incident electromagnetic wave and the ground target. When the scattering particles are much smaller than the wavelength of the incident radiation, the scattering coefficient is inversely proportional to the fourth power of the incident radiation wavelength; however, when the scattering particles are comparable to or much larger than the wavelength of the incident radiation, the scattering coefficient is less dependent on the wavelength.

[0133] 11. Scattering coefficient entropy: Scattering coefficient entropy can be used to describe the accuracy, determinism, or chaotic state of the scattering coefficient of a region.

[0134] The perception method provided in this application can be applied to joint perception scenarios, which refer to the perception of a target by multiple perception nodes. Then, the multiple perception nodes send their respective determined perception results to a central node, which then fuses the multiple perception results to reduce the uncertainty of perception and improve perception performance.

[0135] The joint sensing scenario can be either a two-base joint sensing scenario or a one-base joint sensing scenario. A two-base joint sensing scenario refers to a joint sensing scenario where the transmitter and receiver are separate, meaning the transmitter of the sensing signal and the receiver of the echo signal are not the same communication device. A one-base joint sensing scenario refers to a joint sensing scenario where the transmitter and receiver are integrated, meaning the transmitter of the sensing signal and the receiver of the echo signal belong to the same communication device. A one-base joint sensing scenario can also be called a self-sensing scenario.

[0136] The dual-base joint sensing scenario can be understood by referring to Figure 1A. As shown in Figure 1A, this dual-base joint sensing scenario includes two transmitters, four receivers, sensing targets, and a central node. The two transmitters are transmitter Tx101 and transmitter Tx102; the four receivers are receivers Rx103, receiver Rx104, receiver Rx105, and receiver Rx106; the central node 107 is used to sense targets, which can be various types of buildings or other objects. The central node 107 can be a node that configures sensing parameters for the transmitters or receivers of the sensing signals, and / or a node that summarizes the sensing results. This central node can be an access network device or a chip within an access network device; of course, the central node can also be other types of devices.

[0137] The transmitter Tx101 transmits a sensing signal SS1, and the echo signal ES1 generated by SS1 after passing through the building is received by the receiver Rx103.

[0138] Transmitter Tx102 transmits SS2, and SS2 passing through a building generates ES2, which is received by receiver Rx103; transmitter Tx102 transmits SS3, and SS3 passing through a building generates ES3, which is received by receiver Rx104; transmitter Tx102 transmits SS4, and SS3 passing through a building generates ES4, which is received by receiver Rx105; ES5 is received by receiver Rx106.

[0139] It should be noted that SS2, SS3, and SS4 can be sensing signals emitted from the same transmitting beam. However, sensing signals within the range of this transmitting beam will produce echo signals in different directions when encountering buildings at different locations, such as ES2, ES3, ES4, and ES5. Echo signals in different directions can be received by different receiving terminals. Of course, SS2, SS3, and SS4 can also be sensing signals in different beams of the transmitting terminal Tx102.

[0140] In a dual-base joint sensing scenario, the echo signals generated by sensing signals transmitted from the same transmitter can be received by different receivers. For example, ES2 is received by receiver Rx103, ES3 by receiver Rx104, ES4 by receiver Rx105, and ES5 by receiver Rx106. Echo signals generated by sensing signals transmitted from different transmitters can also be received by the same receiver, such as ES1 and ES2 being received by receiver Rx103. Of course, the echo signals generated by sensing signals transmitted from the same transmitter can also be received by only one receiver. This application does not limit the correspondence between transmitters and receivers; it is related to the number of transmitters or receivers within a certain area. In either case, the receiver can determine the sensing result based on its received echo signals. Alternatively, the receiver can send relevant data from the received echo signals to other communication devices for them to determine the sensing result.

[0141] The receiving end will send the determined sensing signal SR to the central node 107. For example, the receiving end Rx103 sends SR1 to the central node, the receiving end Rx104 sends SR2 to the central node, the receiving end Rx105 sends SR3 to the central node, and the receiving end Rx106 sends SR4 to the central node. The central node will fuse SR1, SR2, SR3 and SR4 to determine the fused sensing result, thereby reducing the uncertainty of sensing and improving sensing performance.

[0142] The single-base joint sensing scenario can be understood by referring to Figure 1B. As shown in Figure 1B, the single-base joint sensing scenario can include four measurement nodes, a central node 107, and a sensing target. The four measurement nodes are measurement node 111, measurement node 112, measurement node 113, and measurement node 114. The measurement nodes can both transmit sensing signals and receive echo signals.

[0143] When a measurement node senses a target in a measurement environment, it can transmit one or more beams. The sensing signals SS on these beams can detect different locations of the target. The measurement node then receives the corresponding echo signals ES, and can determine the sensing result based on the ES. Alternatively, the measurement node can also send relevant data from the received echo signals to other communication devices, which can then determine the sensing result.

[0144] As shown in Figure 1B, measurement node 111 transmits SS1, receives ES1, and determines the sensing result SR1 based on ES1; measurement node 112 transmits SS2, receives ES21, and determines the sensing result SR2 based on ES2; measurement node 113 transmits SS3, receives ES31, and determines the sensing result SR3 based on ES3; measurement node 114 transmits SS4, receives ES41, and determines the sensing result SR4 based on ES4. After the four measurement nodes calculate the sensing results, they send their respective sensing results SR1, SR2, SR3, and SR4 to the central node 107. Then, the central node 107 fuses SR1, SR2, SR3, and SR4 to determine the fused sensing result, thereby reducing the uncertainty of sensing and improving sensing performance.

[0145] Additionally, it should be noted that in the scenarios described in Figures 1A and 1B above, there are multiple receivers, transmitters, or measurement nodes. In reality, there can be only one receiver, transmitter, or measurement node. Measurements of different positions of the sensing target can be achieved by adjusting the angle of the receiver, transmitter, or measurement node. Therefore, this application does not limit the number of receivers, transmitters, or measurement nodes, and there can be one or more.

[0146] In the scenarios depicted in Figures 1A and 1B above, the receiving end, transmitting end, or measuring node can all be referred to as a sensing node. The receiving end, transmitting end, and measuring node can all be terminal devices or access network devices, and the central node can also be a terminal device or access network device. This application does not limit the specific form of the receiving end, transmitting end, measuring node, and central node shown in Figures 1A and 1B above.

[0147] The terminal equipment and access network equipment of this application are described below.

[0148] The terminal device can be a wireless terminal device capable of receiving scheduling and instruction information from access network devices. The wireless terminal device can be a device that provides voice and / or data connectivity to the user, a handheld device with wireless connectivity, another processing device connected to a wireless modem, or a device with sensing capabilities.

[0149] Terminal equipment, also known as user equipment (UE), mobile station (MS), or mobile terminal (MT), is a device that includes wireless communication and / or sensing functions (providing voice or data connectivity to the user). Examples include handheld devices with wireless connectivity or in-vehicle devices. Currently, some examples of terminal equipment include: mobile phones, tablets, laptops, PDAs, drones, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in vehicle-to-everything (V2X) communication, wireless terminals in self-driving cars, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. For example, wireless terminals in the Internet of Vehicles (IoV) can be in-vehicle equipment, vehicle-mounted equipment, in-vehicle modules, and vehicles themselves. Wireless terminals in industrial control can be cameras, robots, etc. Wireless terminals in smart homes can be televisions, air conditioners, robot vacuums, speakers, set-top boxes, etc.

[0150] Access network equipment is a device deployed in a radio access network (RAN) that provides wireless communication and / or sensing functions to terminal devices. For example, an access network device can be a RAN node that connects terminal devices to a wireless network. Access network equipment can also be a device deployed in a RAN that can communicate with other access network devices and provide wireless communication and / or sensing functions between access network devices.

[0151] Access network equipment includes, but is not limited to: evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (e.g., home evolved Node B, or home Node B, HNB), baseband unit (BBU), access point (AP), wireless relay node, wireless backhaul node, transmission point (TP), or transmission and reception point (TRP) in wireless fidelity (WIFI) systems, and can also be access network equipment in 5G mobile communication systems. For example, a next-generation NodeB (gNB), transmission reception point (TRP), or transmission point (TP) in a new radio (NR) system; or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G mobile communication system; or, access network equipment can also be network nodes constituting a gNB or transmission point. For example, a baseband unit (BBU) or a distributed unit (DU), etc.

[0152] In some deployments, a gNB may include a centralized unit (CU) and a dedicated unit (DU). The gNB may also include an active antenna unit (AAU). The CU implements some of the gNB's functions, and the DU implements others. For example, the CU handles non-real-time protocols and services, implementing radio resource control (RRC) and packet data convergence protocol (PDCP) layer functions. The DU handles physical layer protocols and real-time services, implementing radio link control (RLC), media access control (MAC), and physical (PHY) layer functions. The AAU implements some physical layer processing functions, radio frequency processing, and active antenna-related functions. Information from the RRC layer ultimately becomes information from the PHY layer, or is derived from PHY layer information. Therefore, in this architecture, higher-layer signaling (such as RRC layer signaling) can be considered to be sent by the DU, or by both the DU and AAU. It is understood that access network equipment can be one or more of the following: CU nodes, DU nodes, and AAU nodes. In addition, the CU can be classified as an access network device in the radio access network (RAN) or as an access network device in the core network (CN), and this application does not limit this.

[0153] The sensing results determined by the receiving end or sensing node in Figure 1A above may include material boundary information and scattering coefficient. The process of determining material boundary information and scattering coefficient can be understood by referring to the following introduction.

[0154] 1. Material boundary information;

[0155] Because different materials have significantly different scattering coefficients, the boundary on a sensing target, from a physical perspective, can be understood as the set of pixels in the image (e.g., an imaged point cloud) whose scattering coefficient gradient is greater than a given gradient threshold, or the set of locations of these pixels. When the gradient of the scattering coefficient of a pixel in the image of the sensing target is greater than a given gradient threshold, that pixel can be considered to be located on the boundary. The expression can be:

[0156] P a,b,c ∈Edge if and only if G(a,b,c)>>Ts

[0157] Where P a,b,cLet G(a,b,c) represent pixel (a,b,c), Edge represent the set of boundaries corresponding to the boundary, G(a,b,c) represent the gradient of the scattering coefficient of pixel (a,b,c), and Ts represent the given gradient threshold. Among them G x (a,b,c),G y (a,b,c) and G z (a, b, c) represent the gradient values ​​of the scattering coefficients of pixel (a, b, c) along the x, y, and z directions, respectively. x (a,b,c),G y (a,b,c) and G z (a, b, c) can be represented as:

[0158] Pixels located in the boundary set can also be described by boundary vertices. Boundary vertices can represent all pixels on the boundary in several ways: First, represent all pixels on the boundary; second, retain the endpoints (pixels at both ends of the edge) and connect the endpoints to form the boundary; third, represent the boundary using a set of equations, such as: E1:f1(x,y,z)=0,x∈[x1,x2],y∈[y1,y2],z∈[z1,z2];……;En:f n (x,y,z)=0,x∈[x1,x2],y∈[y1,y2],z∈[z1,z2]), the boundary is represented by a set of equations, which can minimize the distance difference between the boundary and all pixels on the boundary.

[0159] The following sections will introduce them separately.

[0160] As shown in Figure 2, a two-dimensional image is used as an example for illustration. Figure 2 shows a matrix of 5 rows and 5 columns of pixels. The elements in the matrix represent the scattering coefficient of each pixel. The row index and column index can both be represented as {0, 1, 2, 3, 4}.

[0161] If the first representation method is adopted, the boundary vertices or boundary set of the material with scattering coefficient a can be represented as {[0,0],[0,1],[0,2],[0,3],[0,4],[1,4],[2,4],[3,4],[4,4],[4,3],[4,2],[4,1],[4,0],[3,0][2,0],[1,0]}, which are the 16 pixels with scattering coefficient 0 in Figure 2.

[0162] If the second representation is adopted, the boundary vertices or boundary set of the material with scattering coefficient a can be represented as {[0,0],[0,4],[4,4],[4,0]}, which are the endpoints of each edge on the boundary in Figure 2.

[0163] If the third representation is used, the set of equations can be E1: y = 0, x ∈ [0, 4]; E2: x = 4, y ∈ [0, 4]; E3: y = 4, x ∈ [0, 4]; E4: x = 0, y ∈ [0, 4].

[0164] 2. Scattering coefficient;

[0165] The process of determining scattering coefficients based on echo signals may include:

[0166] Taking an example with M transmitting antennas, N receiving antennas, and Q scattering points in space:

[0167] The sensed signal transmitted by the m-th transmitting antenna is: s m (t)=p m (t)exp(j2πf c t); where p m For baseband signal, f c The carrier frequency is used. The sensed signal acts on the scattering point to form an echo signal.

[0168] The echo signal received by the nth receiving antenna is: Where, α q The scattering field at the scattering center q, The distance from the emitting element m to the scattering center q, The distance from the receiving unit n to q, where c is the speed of light.

[0169] At the receiving end, the imaging result is obtained by pulse compression and projection using a sensing algorithm:

[0170] Where I(l,k) represents the imaging result at pixel (l,k). Let I(l,k) represent the transmission delay between pixel (l,k) and transceiver antenna (n,m), and g(t) be the autocorrelation function of the generated sensing signal. From the above I(l,k) relationship, it can be seen that the influence of the electromagnetic scattering characteristics of all Q scattering points is superimposed and jointly affects the imaging result I(l,k).

[0171] Wherein, the scattering field α q It can be represented as: Where S q The scattering coefficient of the scatterer q is represented by . Indicates the influence of channel parameters, dS q The scattering area of ​​the scatterer q is represented by . f(φ) represents the emission angle between the scatterer q and the transmitting antenna m. r ) represents the amplitude distribution function.

[0172] When objects are made of the same material, the scattering coefficient can be obtained through normalization. Normalization refers to reducing the scattering amplitude S at the target point. q Setting it to 1 yields a unit imaging result. Dividing the two results allows us to estimate the object's scattering coefficient. The specific process is as follows:

[0173] From the above analysis, the scattering coefficient S based on a certain pixel point is obtained. q The initial imaging result can be expressed as:

[0174] The scattering coefficient S of this pixel q Setting it to 1, the unit imaging result can be represented as:

[0175] The scattering coefficient is obtained by normalization, as shown in the following expression:

[0176] Because I ini I nor This information can be obtained during sensor measurement, therefore, the scattering coefficient S of that pixel can be calculated using the above relationship. q Furthermore, as can be seen from the above process, when the materials of the objects are the same, the normalization scheme can remove the influence of different scattering points, channel parameters, angles, etc., and estimate the scattering coefficient.

[0177] The application scenarios of this application have been introduced above. The following describes the sensing method provided by the embodiments of this application in conjunction with the interaction process of the first communication device and the second communication device.

[0178] In this application, the first communication device can be the central node in the aforementioned joint sensing scenario. The second communication device can be a receiver of echo signals, or a sensing node integrating transceiver functions, etc. The second communication device can be an access network device, a terminal device, or a chip in the access network device or a chip in the terminal device. There can be one or more second communication devices.

[0179] As shown in Figure 3, the sensing method provided in this application embodiment includes:

[0180] S301. The second communication device determines first material boundary information of a first region of the sensing target, and a first scattering coefficient of the first region; wherein the first material boundary information is used to indicate the boundary of the first region.

[0181] In this application, the first material boundary information can include the boundary information of various material components in the entire sensing target. For example, taking a building as an example, the first material boundary information can include the boundary information of various single material components such as glass, wood, and stone in the building. It should be noted that even components of the same material can belong to different components depending on their position on the building, such as windows in different locations. The first material boundary information can also be the boundary information of a single material component in the sensing target, such as the boundary information of a window in a building.

[0182] In this application, the first scattering coefficient may include the scattering coefficients corresponding to the regions formed by the boundary information of various material components in the entire sensing target, such as the scattering coefficients corresponding to the glass component, the wood component, and the stone component. Of course, the first material boundary information may also be the scattering coefficient of the region formed by the boundary information of a single material component in the sensing target, such as the scattering coefficient of a glass window.

[0183] In this application, the first region may include various small regions formed by the boundary information of various material components in the entire sensing target. The first region may also be a small region formed by the boundary information of a single material component in the sensing target.

[0184] Optionally, step S301 can obtain the first material boundary information and the first scattering coefficient based on the imaging point cloud of the perceived target. This process can be understood by referring to the preceding introduction to material boundary information and scattering coefficients; the basic process may include the following steps:

[0185] S301a. The second communication device acquires the initial imaging result of each pixel in the imaging point cloud of the perceived target. ini .

[0186] S301b. The second communication device sets the scattering coefficient to 1 and determines the unit imaging result I for each pixel. nor .

[0187] S301c. The second communication device obtains the scattering coefficient S through normalization. q .

[0188] That is, through Determine S q .

[0189] S301d. The second communication device extracts the boundary to determine the boundary information of the first material.

[0190] This process can be understood by referring to the section on material boundary information. Based on the scattering coefficient of the pixel calculated in S301c, the gradient of the scattering coefficient is calculated. If the gradient of the scattering coefficient is greater than a given gradient threshold Ts, the pixel can be identified as a pixel on the boundary. If the gradient value of the pixel is less than the gradient threshold Ts, the pixel can be determined as not being a pixel on the boundary. In this way, the boundaries of different materials can be determined, thus establishing the boundary information of the first material.

[0191] S301e. The second communication device determines the center of the first region based on the first material boundary information, and determines the average value of the scattering coefficients of one or more pixels corresponding to the center of the first region as the first scattering coefficient of the first region.

[0192] In this embodiment, considering the interference between echoes from multiple materials when the target is being sensed, especially at the boundaries, this can lead to inaccurate estimation of the scattering coefficient. Taking Figure 4A as an example, materials 1 and 2 are adjacent. The imaging result of the central region of material 1 may be affected by three factors: the influence of the echo signal from the scattering point in the central region of the current material, the interference of the echo signal from the scattering point in the edge region of the current material, and the interference of the echo signals from the scattering points of other materials. When the distance between other materials (such as material 2) and the center of the current material (material 1) is relatively large, the mutual influence between scattering points is relatively small and can be ignored. Therefore, selecting the average scattering coefficient of the pixel at the center of material 1 as the first scattering coefficient of the first region corresponding to material 1 yields the highest accuracy.

[0193] It should be noted that the center of the first region is not a pixel at a specific geometric center, but rather a smaller region determined based on the boundary information of the first material, which can be understood as the central region. This central region may correspond to one or more pixels.

[0194] S302. The second communication device sends first information to the first communication device. Correspondingly, the first communication device receives the first information from the second communication device.

[0195] The first information includes the first material boundary information and / or the first scattering coefficient.

[0196] S303. The first communication device determines the scattering coefficient entropy of the first region based on the first scattering coefficient associated with the first information.

[0197] In this application, the first scattering coefficient associated with the first information may be the first scattering coefficient included in the first information, or the first scattering coefficient found through the first information.

[0198] The scattering coefficient entropy of the first region is used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

[0199] In this application, if the first region comprises multiple smaller regions, the scattering coefficient entropy of the first region may include the scattering coefficient entropy corresponding to each smaller region. If the first region is a smaller region, the scattering coefficient entropy of the first region is the scattering coefficient entropy of that smaller region. The scattering coefficient entropy of each smaller region is used to describe the accuracy, determinism, or chaos of the scattering coefficient estimated by the second communication device for that smaller region.

[0200] Alternatively, the scattering coefficient entropy of the first region can be determined by the following relationship:

[0201] Among them, H n Let K represent the scattering coefficient entropy of region n in the target being sensed, K represent the number of second communication devices, and N represent a given threshold number of second communication devices. Let R represent the probability distribution among K second communication devices measuring region n, where region n is any one of multiple single-material regions of the target being sensed; where,

[0202] in, The number of second communication devices is to estimate the scattering coefficient of region n as R.

[0203] When there are multiple second communication devices, each device is typically located in a different position, and the sensing position and angle for the same target are usually different. Therefore, the scattering coefficients of the same area of ​​the target estimated by different second communication devices may be the same or different. As shown in Figure 4B, there are K sensing nodes, namely sensing node 1, sensing node 2, ..., sensing node K, which are also the second communication devices. In this scenario, for the same sensing target, sensing node 1 determines the boundaries of three materials and their corresponding scattering coefficients based on the received echo signals: the boundaries of material 1, material 2, and material 4. Sensing node 2 determines the boundaries of four materials and their corresponding scattering coefficients based on the received echo signals: the boundaries of material 1, material 2, material 3, and material 4. Sensing node K determines the boundaries of three materials and their corresponding scattering coefficients based on the received echo signals: the boundaries of material 1, material 2, and material 4. Thus, sensing node K determines the boundaries of three materials and their corresponding scattering coefficients based on the received echo signals: the boundaries of material 1, material 2, and material 4. It is evident that different sensing nodes may determine different materials based on their respective received echo signals, and the estimated scattering coefficients for the same material region may also differ between different sensing nodes. Therefore, the scattering coefficient entropy described above can be used to measure the accuracy of the scattering coefficients.

[0204] To understand the calculation of the scattering coefficient entropy, please refer to the following example: If K = 9, and three second communication devices calculate the scattering coefficient R1 for region n (a small area of ​​the same material), then the probability distribution of scattering coefficient R1 is 3 / 9; two second communication devices calculate the scattering coefficient R2 for region n, then the probability distribution of scattering coefficient R2 is 2 / 9; and four second communication devices calculate the scattering coefficient R3 for region n, then the probability distribution of scattering coefficient R3 is 4 / 9. Substitute these probability distributions into the above H... n The calculation formula can be used to determine the scattering coefficient entropy H of region n. n .

[0205] S304. The first communication device sends the scattering coefficient entropy of the first region to the second communication device. Correspondingly, the second communication device receives the scattering coefficient entropy of the first region from the first communication device.

[0206] The solution provided in this application embodiment allows a first communication device to determine the scattering coefficient entropy of a first region based on the scattering coefficient of the first region, and then determine the accuracy of the first scattering coefficient estimated by the second communication device through the scattering coefficient entropy of the first region. The first communication device then sends the scattering coefficient entropy of the first region to the second communication device to instruct the second communication device to perform the next round of sensing measurement. Through multiple rounds of sensing measurement, the accuracy of scattering coefficient estimation can be improved.

[0207] When the scattering coefficient entropy of the first region is measured, the material boundary information corresponding to that scattering coefficient entropy can also be sent.

[0208] Optionally, S300 may be included before S301.

[0209] S300. The first communication device sends second information to the second communication device. Correspondingly, the second communication device receives the second information from the first communication device.

[0210] The second information includes the second material boundary information of the perceived target and / or the scattering coefficient entropy corresponding to the second material boundary information. The second information is used to determine the first region.

[0211] In this embodiment, before S301, the first communication device can send the second material boundary information and / or the scattering coefficient entropy corresponding to the second material boundary information to the second communication device. In this way, the second communication device can determine whether the accuracy of the scattering coefficient in the corresponding region meets the requirements based on the scattering coefficient entropy corresponding to the second material boundary information, and thus adjust the range of sensing measurement to specifically measure areas with low scattering coefficient accuracy.

[0212] In this application, the boundary information of the second material and / or the scattering coefficient entropy corresponding to the boundary information of the second material can be determined by the first communication device based on the boundary information and scattering coefficient entropy received in the previous round. If the first round is used for sensing measurement, the boundary information of the second material can be set to empty and the scattering coefficient entropy can be set to infinity.

[0213] Optionally, before S304 above, S304a may be included: the first communication device determines whether the scattering coefficient entropy of the first region meets the accuracy requirement of the first scattering coefficient. If it meets the requirement, then S304 is executed; if it does not meet the requirement, then S305 is executed.

[0214] S305. If the scattering coefficient entropy of the first region meets the accuracy requirement of the first scattering coefficient, then the first communication device determines the sensing result.

[0215] This step of determining the sensing result can be to fuse the scattering coefficients estimated by different second devices for the same region to obtain the fused scattering coefficients for that region. For example, multiple scattering coefficients can be fused using the average value, the mean square error, or other strategies to obtain the fused scattering coefficient result.

[0216] Optionally, the scattering coefficient entropy of the first region in step 304 above can be represented by a first sensing quality indicator. The first sensing quality indicator can be a numerical value, and different values ​​can represent the approximate range, upper limit, or lower limit of the scattering coefficient entropy of the first region. Using a first sensing quality indicator to indicate the scattering coefficient entropy of the first region can reduce data transmission volume and increase transmission rate.

[0217] In this application, for ease of description, the perceived quality indication is represented by SQI, which is an abbreviation for sensing quality indication. Of course, the perceived quality indication can also be represented by other letters or symbols; SQI here is merely an exemplary illustration.

[0218] SQI is essentially a representation of the scattering coefficient entropy using floating-point numbers or integers of a given precision. In other words, it discretizes the scattering coefficient entropy and represents it in SQI form. Discretized SQI can correspond to different scattering coefficient entropy thresholds. The correspondence between SQI and scattering coefficient entropy thresholds can be understood by referring to Table 1.

[0219] Table 1: Correspondence between scattering coefficient entropy threshold and SQI

[0220] In Table 1, the following will be used Taking the discretization into N SQIs as an example, the values, numbers, or indices of the SQIs are 0, 1, ..., (N-1), and the corresponding scattering coefficient entropy thresholds are S0, S1, ..., S... (N-1) Each SQI corresponds to a scattering coefficient entropy threshold, such as: 0 corresponds to S0, 1 corresponds to S1, ..., (N-1) corresponds to S... (N-1) .

[0221] Thus, after determining the scattering coefficient entropy of the first region, the first communication device can determine the corresponding SQI according to Table 1.

[0222] If it is agreed that the smaller the value or number of SQI, the lower the accuracy of the scattering coefficient, then in Table 1, S0 <S1<S N-1 At this point, if the scattering coefficient entropy of the first region is between S0 and S1, then SQI=0 corresponding to S0 is selected and transmitted to the second communication device.

[0223] If it is agreed that the smaller the value or number of SQI, the higher the accuracy of the scattering coefficient, then in Table 1, S0>S1>S N-1 If the scattering coefficient entropy of the first region is between S0 and S1, then SQI=1 corresponding to S1 is selected and transmitted to the second communication device.

[0224] In summary, when selecting SQI, if the scattering coefficient entropy of the first region is between two scattering coefficient entropy thresholds, the first communication device selects a value, number, or index indicating low accuracy of the scattering coefficient and transmits it to the second communication device to instruct the second communication device to perform sensing optimization.

[0225] The second communication device may store Table 2, which may be pre-configured in the second communication device or sent to the second communication device in advance by the first communication device. This application does not limit this.

[0226] Table 2: Correspondence between SQI and scattering coefficient entropy threshold

[0227] After receiving the SQI, the second communication device can determine the corresponding scattering coefficient entropy threshold according to Table 2, and then perform perception optimization based on the scattering coefficient entropy threshold.

[0228] It should be noted that the tables stored in the first and second communication devices can be in the same form, either Table 1 or Table 2, as long as they can enable the lookup of the corresponding SQI based on the scattering coefficient entropy of the first region, or the lookup of the corresponding scattering coefficient threshold based on the SQI. This application does not impose specific limitations on the form of the tables. Alternatively, tables can be omitted, and other forms can be used to associate the SQI with the scattering coefficient entropy threshold. This application does not impose specific limitations on this approach.

[0229] In the embodiment corresponding to Figure 3 above, the first information may include at least two of the following: an identifier of a first region, first material boundary information, or a first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device. The second information may include at least two of the following: an identifier of a second region, second material boundary information, or the scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region, and the identifier of the second region is used to determine the second material boundary information stored in the second communication device or the scattering coefficient entropy corresponding to the second material boundary information.

[0230] The first and second information can be represented by hash tables or matrices. The formats of hash tables and matrices are introduced below.

[0231] Hash tables can contain two or three fields, which are described below:

[0232] 1. A hash table contains two fields;

[0233] 1.1 Material boundary information and the scattering coefficient of the corresponding region; or, material boundary information and the entropy of the corresponding scattering coefficient.

[0234] Table 3

[0235] Table 3 illustrates one method of transmitting first or second information via a hash table. The first material boundary information can be represented by boundary vertices or by equations. If represented by boundary vertices, V1 to Vn represent the coordinates of each pixel on the boundary of the first region, with V1 to Vn connected end-to-end to form a closed first region. If represented by equations, the closed first region is represented by equations E1 to En. If the first information is transmitted, Table 3 includes the first scattering coefficient S; if the second information is transmitted, Table 3 includes the scattering coefficient entropy H of the first region.

[0236] If there are multiple first regions in the imaging point cloud of the perceived target, they can all be represented in a form similar to V1 to Vn, which are not listed one by one in Table 3.

[0237] 1.2 Identifier (ID) of the first region and updated boundary information.

[0238] Table 4

[0239] Table 4 illustrates another form of transmitting the first or second information using a hash table, where R1 represents the identifier of the first region. Table 4 indicates that when the first region has no scattering coefficient or its scattering coefficient entropy changes, only the updated boundary information can be transmitted; the untransmitted portions represent unchanged information. For example, in Table 4, only the coordinates from Vm to Vn are transmitted, where m > 1 and m is an integer. This indicates that the coordinates from V1 to V(m-1) have not changed and are the same as those transmitted in the previous round.

[0240] 1.3, The identifier (ID) of the first region and the corresponding scattering coefficient; or, the identifier of the first region and the entropy of the corresponding scattering coefficient.

[0241] Table 5

[0242] Table 5 illustrates another form of transmitting the first or second information via a hash table, where R1 represents the identifier of the first region. Table 5 can indicate that when the boundary information of the first region remains unchanged, only the first scattering coefficient or the scattering coefficient entropy of the first region can be transmitted. If the first information is transmitted, then Table 5 includes the first scattering coefficient S; if the second information is transmitted, then Table 5 includes the scattering coefficient entropy H of the first region.

[0243] 2. A hash table contains three fields;

[0244] 2.1 The identifier and material boundary information of the first region, and the scattering coefficient of the corresponding region, or the entropy of the corresponding scattering coefficient.

[0245] Table 6

[0246] The format of Table 6 can be understood by referring to Table 3. The difference is that Table 6 also includes an identifier for the first region.

[0247] 2.2 Identification of the first region, updated boundary information, and the changing scattering coefficient, or the changing scattering coefficient entropy.

[0248] Table 7

[0249] The format of Table 7 can be understood by referring to Tables 4 and 5. Table 7 indicates that when only some boundary vertices are updated, and the corresponding scattering coefficients or scattering coefficient entropies change, only the updated boundary information needs to be transmitted. If the first information is transmitted, only the changed scattering coefficient S needs to be transmitted; if the second information is transmitted, only the changed scattering coefficient entropy needs to be transmitted. Of course, it is also possible that the scattering coefficients or scattering coefficient entropies corresponding to the updated boundary information do not change, or that the boundary information of the region where the scattering coefficients or scattering coefficient entropies change does not change. In such cases, the transmission can be configured in Table 7 according to the actual changes. This application does not limit the specific format of Table 7.

[0250] 2.3 Identification of the first region, boundary information in differential form, and the first scattering coefficient or scattering coefficient entropy of the first region.

[0251] Table 8

[0252] In Table 8, the boundary information of the first material is represented in the form of boundary vertices. Unlike Table 3, the boundary information of the first material is transmitted in the form of difference. The coordinates of subsequent pixels are only transmitted in the form of difference from the previous pixel.

[0253] As can be seen from the above hash table format, the first or second information can be transmitted in various forms. Moreover, different transmission forms have different advantages. For example, transmitting only updated boundary information or tables of changing scattering coefficients or scattering coefficient entropy can reduce the amount of data transmitted, while other forms of tables can increase the comprehensiveness and accuracy of data transmission.

[0254] In addition, the aforementioned first material boundary information, as well as the first scattering coefficient or the scattering coefficient entropy of the first region, can also be transmitted in the form of a matrix, which can be understood by referring to Table 4C.

[0255] As shown in Figure 4C, this 5x5 matrix contains 25 mesh element values, where each mesh element value represents the scattering coefficient or scattering coefficient entropy at the corresponding mesh location. The locations where mesh element values ​​change indicate boundaries. In Figure 4C, the material boundaries of region 401 (mesh element value 'a'), region 402 (mesh element value 'b'), and region 403 (mesh element value 'd') are adjacent to each other. Similarly, the material boundaries for other mesh element values ​​can be understood by referring to the process for determining the material boundary for mesh element value 'a'.

[0256] The following describes the perception process of an embodiment of this application, using the transmission of material boundary information and scattering coefficient or scattering coefficient entropy in matrix form as an example, with reference to Figure 5.

[0257] As shown in Figure 5, the scenario includes a central node and N sensing nodes, namely sensing node 1, ... sensing node N. The sensing nodes can be receivers of echo signals or measurement nodes that integrate the transmission and reception of sensing and echo signals. This application does not limit the specific type of sensing node.

[0258] The central node can send matrix-form scattering coefficient entropy to sensing nodes 1, ..., N, respectively. The scattering coefficient entropy of region 501 is infinite (∞), indicating that the accuracy of the scattering coefficient in region 501 is very low. Upon receiving this matrix, sensing nodes 1, ..., N can adjust their sensing range based on the scattering coefficient entropy in the matrix and their own capabilities (e.g., antenna angle, position) to determine the sensing area. They then send sensing signals to the sensing area and receive echo signals, determining the scattering coefficients based on the echo signals. The scattering coefficients can be reported to the central node in the form of matrix 502. The central node can calculate the scattering coefficient entropy of each small region based on the matrix reported by each sensing node, perform sensing fusion, or proceed to the next round of sensing measurement (sending a new matrix of scattering coefficient entropy).

[0259] The following example, using the first communication device as the central node and the second communication device as the sensing node, illustrates several possible sensing processes involved in the embodiments of this application.

[0260] As shown in Figure 6, another embodiment of the sensing method provided in this application includes:

[0261] S601. The central node sends material boundary information and the corresponding scattering coefficient entropy. Correspondingly, the sensing node receives material boundary information and the corresponding scattering coefficient entropy.

[0262] S602. The sensing node adjusts its sensing range based on the scattering coefficient entropy.

[0263] The process of a sensing node adjusting its sensing range can be as follows: The sensing node determines its sensing range (sensing area) for the current round based on the scattering coefficient entropy of the area indicated by the received material boundary information and its own capabilities. The sensing node's capabilities can include configuration parameters such as its position, the angle of its transmitting antenna, and / or receiving antenna. For example, if the scattering coefficient entropy threshold is 10, the sensing node can first filter out areas with a scattering coefficient entropy threshold greater than 10 from the scattering coefficient entropies corresponding to each region sent by the central node. Then, the sensing node, combined with its own capabilities, determines the measurable area from the areas with a scattering coefficient entropy threshold greater than 10, thus determining the final sensing range. The final sensing range will include the areas that the sensing node can measure and whose scattering coefficient entropy threshold is greater than 10.

[0264] S603. The sensing node receives the echo signal.

[0265] The sensing node can also send a sensing signal and receive the echo signal. Of course, the sensing signal can also be sent by other sensing nodes.

[0266] S604. The sensing node determines the imaging result corresponding to the sensing range based on the echo signal.

[0267] The imaging result can be the initial imaging result I. ini .

[0268] S605. The sensing node determines the boundary information and corresponding scattering coefficient of each region based on the imaging results.

[0269] Each region can be a region of a single material determined by the sensing node. The process of determining the scattering coefficient can be understood by referring to the previous steps S301a to 301e.

[0270] S606. The sensing node sends the boundary information and corresponding scattering coefficients of each region. Correspondingly, the central node receives the boundary information and corresponding scattering coefficients of each region.

[0271] S607. The central node determines the scattering coefficient entropy of each region based on the boundary information and the corresponding scattering coefficient of each region.

[0272] This step can be understood by referring to S303.

[0273] S608. The central node determines whether the cutoff condition is met based on the scattering coefficient entropy of each region.

[0274] This step can be understood by referring to S304a. If it is satisfied, it means that the accuracy of the scattering coefficients of each region or some regions has met the requirements. If it is not satisfied, it means that the accuracy of the scattering coefficients of each region or some regions has not yet met the requirements.

[0275] S609. If not satisfied, the central node sends the material boundary information of the target area and the corresponding scattering coefficient entropy.

[0276] The target region can be a part of the regions in S607, and the accuracy of the scattering coefficient corresponding to the target region does not yet meet the requirements. For regions that meet the requirements, the target region can be closed.

[0277] S610. If satisfied, the central node fuses the scattering coefficients of the same area sent by different sensing nodes to obtain the fusion result.

[0278] The fusion result can be the scattering coefficient after fusion.

[0279] In the solution provided in this application embodiment, the central node can evaluate the accuracy of the scattering coefficient by the scattering coefficient entropy. In this way, the next round of sensing measurement process can be initiated based on the accuracy of the scattering coefficient. Through multiple rounds of sensing measurement, a scattering coefficient with higher accuracy can be obtained and then fused, thereby improving the sensing quality.

[0280] As shown in Figure 7, another embodiment of the sensing method provided in this application includes:

[0281] In the embodiment shown in Figure 7, steps S700a and S700b are added compared to the embodiment shown in Figure 6;

[0282] S700a. The central node and the sensing node agree on the material boundary information, as well as the transmission format of the corresponding scattering coefficient entropy or scattering coefficient.

[0283] The transmission format can be a hash table or a matrix as described earlier. The central node and the sensing node can agree on the transmission format of only one of the scattering coefficient entropy or the scattering coefficient, or they can agree on the transmission formats of both.

[0284] S700b. The sensing node returns an acknowledgment (ack) to the central node.

[0285] This response indicates that the sensing node agrees to the agreement sent by the central node and will send the material boundary information and scattering coefficient according to the agreed transmission format.

[0286] The corresponding S701 and S706 can also be modified as follows.

[0287] S701. The central node transmits material boundary information and scattering coefficient entropy in accordance with the agreed format.

[0288] The agreed format is the agreed transmission format.

[0289] If a transmission format for the scattering coefficient entropy is agreed upon, the central node transmits the material boundary information and the scattering coefficient entropy according to the agreed format.

[0290] S706. The sensing node transmits material boundary information and scattering coefficients in accordance with the agreed format.

[0291] If a transmission format for the scattering coefficient is agreed upon, the sensing node transmits the material boundary information and the scattering coefficient according to the agreed transmission format.

[0292] For the other S702 to S705, as well as S707 to S710, please refer to S602 to S605 and S607 to S610 for understanding, and they will not be described again here.

[0293] As shown in Figure 8, another embodiment of the sensing method provided in this application includes:

[0294] In the embodiment shown in Figure 8, step S800c is added compared to the embodiment shown in Figure 7;

[0295] S800c. The central node sends a table of sensing quality indication and scattering coefficient entropy to the sensing node.

[0296] This table can be understood by referring to Tables 1 and 2. The usage of this table can also be understood by referring to the introduction in Tables 1 and 2 above.

[0297] The other steps in this embodiment can be understood by referring to the corresponding steps in Figure 7, and will not be described again here.

[0298] The communication system and sensing method in the embodiments of this application have been described above. The communication device provided in the embodiments of this application will now be described. Please refer to Figure 9, which is a schematic diagram of the structure of the communication device in an embodiment of this application. The communication device 900 can be used to execute the steps in the embodiments shown in Figures 3 to 8. Please refer to the relevant descriptions in the above method embodiments for details.

[0299] The communication device 900 includes a transceiver module 901 and a processing module 902. The transceiver module 901 can implement the corresponding communication functions, and the processing module 902 is used for data processing. The transceiver module 901 can also be referred to as a communication interface or a communication unit.

[0300] Optionally, the communication device 900 may further include a storage unit, which can be used to store instructions and / or data. The processing module 902 can read the instructions and / or data in the storage unit so that the communication device can implement the aforementioned method embodiments.

[0301] The communication device 900 can be used to perform the actions in the method embodiments described above. The communication device 900 can be a terminal device or an access network device, or a component or module configurable in a terminal device or access network device. The transceiver module 901 is used to perform the receiving-related operations in the method embodiments described above, and the processing module 902 is used to perform the processing-related operations in the method embodiments described above.

[0302] Optionally, the transceiver module 901 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiments. The receiving module is used to perform the receiving operation in the above method embodiments.

[0303] It should be noted that the communication device 900 may include a transmitting module but not a receiving module. Alternatively, the communication device 900 may include a receiving module but not a transmitting module. Specifically, it depends on whether the above-described scheme executed by the communication device 900 includes both transmitting and receiving actions.

[0304] As an example, the communication device 900 is used to perform the actions shown in the embodiment of Figure 3 above.

[0305] The transceiver module 901 is used to receive first information from the second communication device; wherein the first information includes first material boundary information and / or first scattering coefficient of the sensing target determined by the second communication device; wherein the first material boundary information is used to indicate the boundary of the first region, and the first scattering coefficient is used to indicate the scattering coefficient of the first region estimated by the second communication device.

[0306] Processing module 902 is used to determine the scattering coefficient entropy of the first region;

[0307] The transceiver module 901 is also used to transmit the scattering coefficient entropy of the first region, which is determined based on the first scattering coefficient associated with the first information. The scattering coefficient entropy of the first region is used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

[0308] It should be understood that the specific process of each module performing the above-mentioned steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0309] The processing module 902 in the above embodiments can be implemented by at least one processor or processor-related circuitry. The transceiver module 901 can be implemented by a transceiver or transceiver-related circuitry. The transceiver module 901 can also be referred to as a communication unit or communication interface. The storage unit can be implemented by at least one memory.

[0310] This application embodiment also provides another communication device 1000. As shown in FIG10, the communication device 1000 includes a processor 1010, the processor 1010 being coupled to a memory 1020, the memory 1020 being used to store computer programs or instructions and / or data, and the processor 1010 being used to execute the computer programs or instructions and / or data stored in the memory 1020, so that the methods in the above method embodiments are executed.

[0311] Optionally, the communication device 1000 may include one or more processors 1010.

[0312] Optionally, as shown in FIG10, the communication device 1000 may further include a memory 1020.

[0313] Optionally, the communication device 1000 may include one or more memory 1020.

[0314] Alternatively, the memory 1020 may be integrated with the processor 1010 or set separately.

[0315] Optionally, as shown in FIG10, the communication device 1000 may further include a transceiver 1030, which is used for receiving and / or transmitting signals. For example, the processor 1010 is used to control the transceiver 1030 to receive and / or transmit signals.

[0316] As one option, the communication device 1000 is used to implement the operations described in the above method embodiments.

[0317] For example, processor 1010 is used to implement processing-related operations in the above method embodiments, and transceiver 1030 is used to implement receiving-related operations in the above method embodiments.

[0318] This application also provides a communication device 1000, which can be a terminal device, an access network device, or a chip or module in a core network device. This communication device 1000 can be used to perform the operations described in the above method embodiments.

[0319] When the communication device 1000 is a communication device, Figure 11 shows a simplified structural diagram of the communication device. As shown in Figure 11, the communication device includes a processor, a memory, and a transceiver. The memory can store computer program code, and the transceiver includes a transmitter 1031, a receiver 1032, a radio frequency circuit (not shown in the figure), an antenna 1033, and input / output devices (not shown in the figure). The processor is mainly used to process communication protocols and communication data, control the communication device, execute software programs, and process data from the software programs. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used for converting baseband signals to radio frequency signals and processing radio frequency signals. The antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touch screens, displays, and keyboards, are mainly used to receive user input data and output data to the user. It should be noted that some types of communication devices may not have input / output devices.

[0320] When data needs to be transmitted, the processor performs baseband processing on the data to be transmitted and outputs a baseband signal to the radio frequency (RF) circuit. The RF circuit then processes the baseband signal and transmits it outward as an electromagnetic wave through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts it into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal back into data and processes it. For ease of explanation, Figure 11 only shows one memory, processor, and transceiver. In actual communication device products, there may be one or more processors and one or more memories. The memory can also be called a storage medium or storage device, etc. The memory can be set up independently of the processor or integrated with the processor; this application embodiment does not impose any limitations on this.

[0321] In the embodiments of this application, the antenna and radio frequency circuit with transceiver function can be regarded as the transceiver unit of the communication device, and the processor with processing function can be regarded as the processing unit of the communication device.

[0322] As shown in Figure 11, the communication device includes a processor 1010, a memory 1020, and a transceiver 1030. The processor 1010 can also be called a processing unit, processing board, processing module, processing device, etc., and the transceiver 1030 can also be called a transceiver unit, transceiver, transceiver device, etc.

[0323] Optionally, the devices in transceiver 1030 used for receiving functions can be considered as receiving units, and the devices in transceiver 1030 used for transmitting functions can be considered as transmitting units. That is, transceiver 1030 includes a receiver and a transmitter. A transceiver may also be called a transceiver unit, transceiver circuit, etc. A receiver may also be called a receiver unit, receiving circuit, etc. A transmitter may also be called a transmitter, transmitting unit, or transmitting circuit, etc.

[0324] For example, in one implementation, processor 1010 is used to execute the processing actions in the embodiment shown in FIG3, and transceiver 1030 is used to execute the transmit and receive actions in FIG3. For example, transceiver 1030 is used to execute the transmit and receive operation of step S301 in the embodiment shown in FIG3. Processor 1010 is used to execute the processing operations of steps S302 and S303 in the embodiment shown in FIG3.

[0325] It should be understood that Figure 11 is merely an example and not a limitation, and the communication device described above, including the transceiver unit and the processing unit, may not depend on the structure shown in Figure 11.

[0326] When the communication device 1000 is a chip, the chip includes a processor, a memory, and a transceiver. The transceiver can be an input / output circuit or a communication interface; the processor can be a processing unit integrated on the chip, a microprocessor, or an integrated circuit. In the above method embodiments, the transmitting operation of the communication device can be understood as the chip's output, and the receiving operation of the communication device in the above method embodiments can be understood as the chip's input.

[0327] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods in the above-described method embodiments.

[0328] For example, when the computer program is executed by a computer, it enables the computer to implement the methods performed in the above method embodiments.

[0329] This application also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the method described in the above method embodiments.

[0330] This application also provides a communication system, which includes the access network device and terminal device described in the above embodiments.

[0331] This application also provides a chip device, including a processor, for calling computer programs or computer instructions stored in a memory to cause the processor to execute the methods of the embodiments shown in Figures 3 to 8 above.

[0332] In one possible implementation, the input of the chip device corresponds to the receiving operation in the embodiments shown in Figures 3 to 8, and the output of the chip device corresponds to the transmitting operation in the embodiments shown in Figures 3 to 8.

[0333] Optionally, the processor is coupled to the memory via an interface.

[0334] Optionally, the chip device may also include a memory that stores computer programs or computer instructions.

[0335] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of a program for controlling the methods of the embodiments shown in Figures 3 to 8. The memory mentioned above can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0336] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the explanations and beneficial effects of the relevant content in any of the communication devices provided above can be referred to the corresponding method embodiments provided above, and will not be repeated here.

[0337] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0338] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0339] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0340] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0341] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essential contribution of the technical solution of this application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

Claims

1. A sensing method, characterized in that, The method is applied to a first communication device, and the method includes: Receive first information from a second communication device; wherein the first information includes first material boundary information and / or a first scattering coefficient of the sensing target determined by the second communication device; wherein the first material boundary information is used to indicate the boundary of a first region, and the first scattering coefficient is used to indicate the scattering coefficient of the first region estimated by the second communication device; The scattering coefficient entropy of the first region is transmitted. The scattering coefficient entropy of the first region is determined based on the first scattering coefficient associated with the first information. The scattering coefficient entropy of the first region is used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

2. The method according to claim 1, characterized in that, Before receiving the first information from the second communication device, the method further includes: Send second information to the second communication device; wherein the second information includes the second material boundary information of the sensing target and / or the scattering coefficient entropy corresponding to the second material boundary information, and the second information is used to determine the first region.

3. The method according to claim 1 or 2, characterized in that, The transmission of the scattering coefficient entropy of the first region includes: If the scattering coefficient entropy of the first region does not meet the accuracy requirement of the first scattering coefficient, then the scattering coefficient entropy of the first region is sent.

4. The method according to claim 1 or 2, characterized in that, The transmission of the scattering coefficient entropy of the first region includes: Send the first perceived quality indication corresponding to the scattering coefficient entropy of the first region.

5. The method according to claim 4, characterized in that, The method further includes: The first perceived quality indicator is determined from multiple mapping relationships based on the scattering coefficient entropy of the first region; wherein the multiple mapping relationships are the correspondence between different perceived quality indicators and corresponding scattering coefficient entropy thresholds.

6. The method according to any one of claims 1-5, characterized in that, The first information includes at least two of the following: the identifier of the first region, the first material boundary information, or the first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

7. The method according to claim 2, characterized in that, The second information includes at least two of the following: the identifier of the second region, the second material boundary information, or the scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region. The identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

8. The method according to claim 2, characterized in that, The method further includes: Send format information to the second communication device, the format information being used to indicate the format used for transmitting the first information and / or the second information.

9. A sensing method, characterized in that, include: Determine first material boundary information of a first region of a perceived target, and a first scattering coefficient of the first region; wherein the first material boundary information is used to indicate the boundary of the first region. Send first information to a first communication device, the first information including the first material boundary information and / or the first scattering coefficient, the first material boundary information and / or the first scattering coefficient being used by the first communication device to determine the scattering coefficient entropy of the first region, the scattering coefficient entropy of the first region being used to indicate the accuracy of the first scattering coefficient estimated by the second communication device.

10. The method according to claim 9, characterized in that, Before determining the first material boundary information of the first region of the perceived target, and the first scattering coefficient of the first region, the method further includes: Receive second information from the first communication device; wherein the second information includes second material boundary information of the sensing target and / or scattering coefficient entropy corresponding to the second material boundary information; The first region is determined based on the second information.

11. The method according to claim 9 or 10, characterized in that, The method further includes: Receive the scattering coefficient entropy of the first region from the first communication device or the first perceived quality indication corresponding to the scattering coefficient entropy of the first region.

12. The method according to claim 11, characterized in that, The method further includes: Based on the first perceived quality indicator, a corresponding scattering coefficient entropy threshold is determined from multiple mapping relationships; wherein, the scattering coefficient entropy threshold corresponding to the first perceived quality indicator is not greater than or not less than the scattering coefficient entropy of the first region; the multiple mapping relationships are the correspondence between different perceived quality indicators and their corresponding scattering coefficient entropy thresholds.

13. The method according to any one of claims 9-12, characterized in that, The first scattering coefficient is the average scattering coefficient of the center of the first region, and the center of the first region is determined by the first material boundary information.

14. The method according to any one of claims 9-13, characterized in that, The first information includes at least two of the following: the identifier of the first region, the first material boundary information, or the first scattering coefficient. The identifier of the first region is used to determine the first material boundary information or the first scattering coefficient stored in the first communication device.

15. The method according to claim 10, characterized in that, The second information includes at least two of the following: the identifier of the second region, the second material boundary information, or the scattering coefficient entropy corresponding to the second material boundary information. The second region includes the first region. The identifier of the second region is used to determine the second material boundary information or the scattering coefficient entropy corresponding to the second material boundary information stored in the second communication device.

16. The method according to claim 10, characterized in that, The method further includes: Receive format information from the first communication device, the format information being used to indicate the format used to transmit the first information and / or the second information.

17. A communication device, characterized in that, include: The transceiver module and the processing module, The transceiver module is used to perform the sending step or receiving step in the method according to any one of claims 1-16; The processing module is used to perform steps other than the sending step and the receiving step in the method according to any one of claims 1-16.

18. A communication device, characterized in that, Includes at least one processor coupled to memory; The memory is used to store programs or instructions; The at least one processor is used to execute the program or instructions to cause the apparatus to implement the method as described in any one of claims 1 to 16.

19. A chip device, characterized in that, Includes a processor for invoking a program stored in memory, such that the processor performs the method as described in any one of claims 1 to 16.

20. The chip device according to claim 19, characterized in that, The chip device also includes the memory.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions that, when executed, cause the method as described in any one of claims 1 to 16 to be performed.

22. A computer program product containing program instructions, characterized in that, When the program instructions are executed on a computer, the computer causes the computer to perform the method as described in any one of claims 1 to 16.

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