Sensing data transmission method and apparatus

Abstract

The present application provides a sensing data transmission method and apparatus. The method comprises: receiving first sensing data transmitted by a first communication apparatus; and transmitting first instruction information, the first instruction information being used for instructing the first communication apparatus to feed back second sensing data, and the amount of information of the second sensing data being greater than that of the first sensing data. Thus, the overhead of sensing data transmission can be reduced.

Description

A sensing data transmission method and apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410634544.7, filed on May 21, 2024, and entitled "A sensing data transmission method and 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, in particular to a sensing data transmission method and apparatus. BACKGROUND

[0003] With the continuous development of communication technology, the Internet of Things, artificial intelligence, big data and automation technology are reshaping traditional industries, giving birth to smart cities, autonomous driving and other intelligent applications. For example, with the advancement of 6G technology, important infrastructure is gradually evolving into integrated sensing and communication (ISAC) unified infrastructure. ISAC enables base stations to have sensing capabilities, enabling mobile communication systems to provide sensing services for users.

[0004] In an ISAC network, each node (also referred to as a station (STA) or a sensing node) with sensing capabilities, if it performs independent single-station sensing, will have limitations such as small sensing range, limited incident angle, and limited accuracy. Therefore, multi-node cooperative sensing can be used to solve the problems of single-station sensing. That is, through multi-node, multi-mode, and multi-frequency point cooperative sensing and sensing data fusion, the sensing data of multiple nodes and different modes can be fused to solve the problems of single-station sensing. However, cooperative sensing has the problem of high sensing transmission overhead. Therefore, how to reduce the transmission overhead of sensing data has become a problem to be solved. SUMMARY

[0005] The present application provides a sensing data transmission method and apparatus, which can reduce the transmission overhead of sensing data.

[0006] In a first aspect, the present application provides a sensing data transmission method. The method is applied to a second communication device side, and specifically, the method is executed by the second communication device or a second node including the second communication device. The second communication device can be a chip, etc. The method includes: receiving first sensing data sent by a first communication device; and sending first indication information, the first indication information being used to indicate that the first communication device feeds back second sensing data, the information amount of the second sensing data being greater than that of the first sensing data.

[0007] In the present application, the second communication device first receives the first communication device's first reported sensing data, i.e., receives the first sensing data, and based on the first sensing data, sends the first communication device first indication information, instructing the first communication device to report at the second level, and instructing the second level reporting includes instructing the first communication device to send the second sensing data. Wherein, the first sensing data can be data extracted from the information of the scatterers perceived by the first communication device, such as, from the coordinates of the perceived scatterers, extracting the features that can represent the position distribution, to obtain rough data that can outline the scatterer coordinate situation; the second sensing data can be specific information of the scatterers perceived by the second communication device, such as, can include the coordinates, number, etc. of the scatterers. It should be understood that the more scatterers perceived by the first communication device, the less resources occupied (or required) by the transmission of the first sensing data obtained by the first communication device, compared with the second sensing data. For example, if the first communication device perceives the information of ten thousand scatterers, then the first sensing data extracted from these information may include several data to represent these information, and the second sensing data may include different information corresponding to each of the ten thousand scatterers. Thus, it can be seen that the amount of information of the second sensing data is much larger than that of the first sensing data.

[0008] The present application transmits the sensing data by reporting the first sensing data at the first level, and if the second communication device instructs to feedback the second sensing data, the first communication device further feedbacks the second sensing data, which greatly reduces the resources occupied by the transmission of the sensing data at the first level, reduces the transmission overhead, and reduces the waste of resources. At the same time, the second sensing data required by the second communication device is reported according to the indication, which can not only reduce the overhead caused by the reporting of useless sensing data, but also will not miss the sensing data that needs to be reported, thereby saving the transmission overhead and ensuring the transmission efficiency.

[0009] In a possible implementation, the first sensing data includes at least one of a target number perceived by the first communication device, position information of the target in space, target speed, or target type. Exemplarily, a plurality of scatterers (also referred to as scattering points) are spatially clustered, the scatterers clustered into a pile are referred to as a "scatterer cluster" (also simply referred to as a "cluster"), and the scatterers in each "scatterer cluster" are defined as belonging to the same target. The target number includes the number of "scatterer clusters"; the position information of the target in space includes the target distribution, which can include position information based on a first region divided in space, and the first region can be a grid; the target speed includes the average speed of the scatterers in each "scatterer cluster"; and the target type includes indicating which category the "scatterer cluster" belongs to, such as pedestrians, buildings, vehicles, etc.

[0010] It can be understood that the first perception data is related to a feature category extracted from information of at least one scatterer perceived, and the feature category includes a target quantity, position information of the target in space, a target speed, or a target type, etc. Different perception information can be expressed in a "scatterer cluster" unit in a relatively rough but concise manner. After the second communication device receives the first perception data reported at the first level, the feature category carried by the first perception data can be used to more easily determine whether the first communication device needs to send second perception data based on a perception task to be performed. That is, the data of the target quantity, the position information of the target in space, the target speed, or the target type in the first perception data in the "scatterer cluster" unit is more aggregated and more likely to represent the state of an object, so as to make the second communication device more accurate in determining whether corresponding second perception data is needed based on the first perception data.

[0011] In a possible implementation, the first perception data includes at least one of a target quantity, position information of the target in space, a target speed, or a target type, a scatterer quantity, an average signal-to-noise ratio, or an average power perceived by the first communication device. In addition to carrying data in the "scatterer cluster" unit, the first perception data can also carry a current scatterer quantity, an average signal-to-noise ratio, an average power, and the like, to help the second communication device determine whether the perception data of the first communication device meets the perception standard thereof. For example, the second communication device needs to perceive information of ten thousand scatterers in a current scene, and considers that the perception is reliable. If the scatterer quantity in the first perception data is less than ten thousand, the second communication device can determine that the perception is unreliable, and does not need to provide more accurate and detailed perception data, and thus does not send first indication information to the first communication device.

[0012] In a possible implementation, the first perception data can be carried in first information, and the first information can further include site information indicating related information of the first node or the first node. The site information can include at least one of a perception link identifier, a sending end identifier, a receiving end identifier, a time, a direction, a configuration, or a capability. The first perception data or the first information can be separate information, or can be carried in other perception data transmission information. The configuration mode is flexible, and can be applied in different scenarios to implement one-level reporting.

[0013] In a possible implementation, the method further includes: sending second indication information, the second indication information being used to indicate that the first node sends the first sensing data to the second node, that is, the second communication device can indicate the first communication device to feed back the data sensed by the first communication device through one indication information, and the data is sent in the form of the first sensing data. Alternatively, the second communication device sends the first sensing data and the content contained in the first sensing data, and indicates that the content contained in the first sensing data includes at least one of a target quantity, position information of the target in space, target speed or target type, scatterer quantity, average signal-to-noise ratio, average power, and the content contained in the first sensing data can be determined according to the current sensing task of the second communication device, so that the first sensing data is more targeted.

[0014] In a possible implementation, the second sensing data reported in the second level can be reported in different data modes. For example, the second sensing data includes information of scatterers sensed by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer; or the scatterer information includes at least one of a first region size corresponding to at least one scatterer sensed by the first communication device, a position range of the first region in space, or a first region matrix, and the first region is a region obtained by dividing the space. For example, the first region can be a grid, the grid is a data form in which the space is divided into regular grids, each grid is called a unit, and corresponding attribute values are assigned to the units to represent space entities, and the second sensing data can include at least one of a grid size, a grid range, or a grid matrix of the grid. The second sensing data is corresponding data of the first sensing data, and can be positively correlated with the number of scatterers, express more accurate and specific information of the scatterers, and have a larger amount of information than the first sensing data. When the second communication device needs to report in the second level, the second sensing data can provide more accurate and detailed sensing data.

[0015] In a possible implementation, before the first indication information is sent, the method further includes: determining, according to the first perception data and a perception task, whether the first communication device needs to feed back the second perception data. The second communication device can determine, according to the first perception data and a current perception task, whether the first communication device needs to feed back the second perception data, where the perception task can be one or more. The second communication device can also determine, based on the first perception data and the perception task, whether the first communication device needs to feed back the second perception data in combination with other factors, such as channel quality. If the first communication device needs to feed back the second perception data, the first indication information is sent to the first communication device, and if the first communication device does not need to feed back the second perception data, the first indication information is not sent to the first communication device, or other indication information is sent to indicate that the second perception data is not sent. The judgment rule (i.e., whether the first communication device needs to feed back the second perception data) of the second communication device and the indication mode to the first communication device can be flexibly adjusted according to the scene in which the perception data transmission method is applied, so that the perception data transmission method is applied more widely.

[0016] In a possible implementation, the first indication information is also used to indicate, to the first node, content contained in the second perception data, and the content contained in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first region size corresponding to a scatterer, a location range of the first region in space, or a first region matrix. For example, if the second communication device has a requirement on the form of the second perception data, the second communication device can carry an indication of the content contained in the second perception data in the first indication information. For example, the second communication device needs to report in a data mode of each scatterer feature, and the first communication device can carry at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer in the second perception data. For example, the second communication device needs to report based on a first region, such as a grid, and the first communication device can carry at least one of a grid size, a grid range, or a grid matrix of a grid corresponding to a scatterer in the second perception data.

[0017] In a second aspect, a perception data transmission method is provided. The method is applied to a first communication device and is performed by the first communication device or a first node including the first communication device. The first communication device can be a chip or the like. The method includes: sending first perception data; and feeding back second perception data according to first indication information if the first indication information is received, where an information amount of the second perception data is greater than an information amount of the first perception data.

[0018] In a possible implementation, the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, or target type.

[0019] In a possible implementation, the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, target type, a number of scatterers, average signal-to-noise ratio, or average power.

[0020] In a possible implementation, the second perception data includes information of scatterers perceived by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or the scatterer information includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix, where the first region is a region obtained by dividing space.

[0021] In a possible implementation, the method further includes that the first communication device autonomously triggers sending of the first perception data based on the information of the perceived scatterers, or sends the first perception data to the second node according to an indication of the second indication information based on receiving the second indication information. The second indication information can be used to indicate sending of the first perception data to the second node, or to indicate sending of the first perception data and content included in the first perception data, and the content included in the first perception data includes at least one of a number of targets perceived by the first communication device, position information of the targets in space, target speed, target type, a number of scatterers, average signal-to-noise ratio, or average power.

[0022] In a possible implementation, the first indication information is further used to indicate, to the first node, content included in the second perception data, and the content included in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or the scatterer information includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix.

[0023] It should be understood that the second aspect of the present application corresponds to the technical solution of the first aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation are similar, which will not be repeated here.

[0024] In a third aspect, the present application provides a second communication device, comprising: a receiving module, configured to receive first sensing data sent by a first communication device; and a sending module, configured to send first indication information, the first indication information being used to indicate that the first communication device feeds back second sensing data, the second sensing data having a larger information quantity than the first sensing data.

[0025] In a possible implementation, the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed or target type sensed by the first communication device.

[0026] In a possible implementation, the first sensing data further comprises at least one of a scatterer quantity, average signal-to-noise ratio or average power.

[0027] In a possible implementation, the second sensing data comprises scatterer information sensed by the first communication device, the scatterer information comprising at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or the scatterer information comprising at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, wherein the first region is a region obtained by dividing space.

[0028] In a possible implementation, the second communication device further comprises a processing module, configured to determine, according to the first sensing data and a sensing task, that the first communication device needs to feed back the second sensing data.

[0029] In a possible implementation, the sending module is further configured to send second indication information, the second indication information being used to indicate that the first node sends the first sensing data to a second node, or the first sensing data and content contained in the first sensing data, the content contained in the first sensing data comprising at least one of a target quantity, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio or average power sensed by the first communication device.

[0030] In a possible implementation, the first indication information is further used to indicate, to the first node, content contained in the second sensing data, the content contained in the second sensing data comprising at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or comprising at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix.

[0031] It should be understood that the third aspect of the present application is the same as the technical solution of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation manners are similar, which will not be described here again.

[0032] In a fourth aspect, the present application provides a first communication device, comprising: a sending module, configured to send first sensing data; and the sending module is further configured to, if the receiving module receives first indication information, feed back second sensing data according to the first indication information, wherein the information amount of the second sensing data is greater than the information amount of the first sensing data.

[0033] In a possible implementation manner, the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed or target type sensed by the first communication device.

[0034] In a possible implementation manner, the first sensing data further comprises at least one of a scatterer quantity, average signal-to-noise ratio or average power.

[0035] In a possible implementation manner, the second sensing data comprises scatterer information sensed by the first communication device, and the scatterer information comprises at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or the scatterer information comprises at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, wherein the first region is a region obtained by dividing space.

[0036] In a possible implementation manner, the receiving module is further configured to receive second indication information, wherein the second indication information is used to indicate that the first node sends the first sensing data to a second node, or the first sensing data and content contained in the first sensing data, and the content contained in the first sensing data comprises at least one of a target quantity, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio or average power sensed by the first communication device.

[0037] In a possible implementation manner, the first indication information is further used to indicate, to the first node, content contained in the second sensing data, and the content contained in the second sensing data comprises at least one of a scatterer identifier, three-dimensional coordinates, scatterer angle, likelihood, power, speed or credibility of each scatterer; or comprises at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix.

[0038] It should be understood that the fourth aspect of the present application corresponds to the technical solutions of the first aspect of the present application, and is the same as the technical solutions of the second aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding possible implementation manners are similar, which will not be described here again.

[0039] In a fifth aspect, the present application provides a communication apparatus, which can be a node or a device (for example, a chip) in a node. The communication apparatus comprises a module for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, a processing module and a transceiver module.

[0040] In a sixth aspect, the present application provides a communication apparatus, which can be a node or a device (for example, a chip) in a node. The communication apparatus comprises a transceiver and a processor for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, the transceiver can be a radio frequency module, and the processor can include a memory or not include a memory.

[0041] Optionally, the communication apparatus comprises a transceiver, a memory and a processor for performing the method as described in any of the above aspects or any possible implementation manner of any of the aspects, for example, the memory can be arranged in the communication apparatus or can be an external device of the communication apparatus.

[0042] In a seventh aspect, the present application provides a communication apparatus, which comprises an input / output interface and a logic circuit, the input / output interface is used to acquire input information and / or output information; the logic circuit is used to perform the method as described in any of the above aspects or any possible implementation manner of any of the aspects, and processes the input information and / or generates the output information.

[0043] In an eighth aspect, the present application provides a communication apparatus, which comprises at least one processor and a storage medium, the at least one processor is coupled with the storage medium, and the storage medium stores instructions, when the instructions are run by the processor, the processor is used to perform the method as described in any of the above aspects or any possible implementation manner of any of the aspects. The storage medium can be arranged in the communication apparatus or arranged outside the communication apparatus.

[0044] In a ninth aspect, the present application provides a computer readable storage medium, which stores a computer program, when the computer program is run by a processor, the method as described in any of the above aspects or any possible implementation manner of any of the aspects is realized.

[0045] In a tenth aspect, the present application provides a computer program product, which comprises instructions, when the instructions are run on a processor, the method as described in any of the above aspects or any possible implementation manner of any of the aspects is realized.

[0046] In a eleventh aspect, the present application provides a chip comprising: an interface circuit and a processor. The interface circuit is connected to the processor, and the processor is configured to cause the chip to perform the method of any one of the preceding aspects and / or any possible implementation of the method.

[0047] In a twelfth aspect, the present application provides a chip comprising: at least one processor configured to execute code in a memory, and when the at least one processor executes the code, the chip implements the method of any one of the preceding aspects and / or any possible implementation of the method.

[0048] Optionally, the chip further comprises a memory. The memory can be integrated with the processor, or can be separately arranged from the processor. The memory can be integrated on the same chip as the processor, or can be separately arranged on different chips.

[0049] Optionally, the chip can be an integrated circuit.

[0050] In a thirteenth aspect, the present application provides a system comprising the second communication device of the third aspect and the first communication device of the fourth aspect.

[0051] In a fourteenth aspect, the present application provides a system comprising the device of any one of the third aspect to the twelfth aspect.

[0052] It should be understood that the fifth aspect to the fourteenth aspect of the present application are consistent or corresponding with the technical solutions of the first aspect and the second aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0054] FIG. 1 is a structural schematic diagram of a system 100 provided by an embodiment of the present application;

[0055] FIG. 2 is a flowchart of a sensing data transmission method provided by an embodiment of the present application;

[0056] FIG. 3 is a flowchart of a sensing data transmission method provided by an embodiment of the present application;

[0057] FIG. 4 is a schematic diagram of a grid provided by an embodiment of the present application;

[0058] FIG. 5 is a flow diagram of a sensing data transmission method provided by an embodiment of the present application;

[0059] FIG. 6 is a schematic diagram of an environment for a sensing data transmission method provided by an embodiment of the present application;

[0060] FIG. 7 is a schematic diagram of a sensing data reporting structure provided by an embodiment of the present application;

[0061] FIG. 8 is a schematic diagram of a sensing data reporting structure provided by an embodiment of the present application;

[0062] FIG. 9 is a flow diagram of a sensing data transmission method provided by an embodiment of the present application;

[0063] FIG. 10 is a schematic diagram of an environment obtained according to a sensing data transmission method provided by an embodiment of the present application;

[0064] FIG. 11 is a schematic diagram of an environment obtained according to a sensing data transmission method provided by an embodiment of the present application;

[0065] FIG. 12 is a schematic diagram of an environment obtained according to a sensing data transmission method provided by an embodiment of the present application;

[0066] FIG. 13 is a schematic diagram of a second communication device provided by an embodiment of the present application;

[0067] FIG. 14 is a schematic diagram of another second communication device provided by an embodiment of the present application;

[0068] FIG. 15 is a schematic diagram of a first communication device provided by an embodiment of the present application;

[0069] FIG. 16 is a schematic diagram of an apparatus 60 provided by an embodiment of the present application;

[0070] FIG. 17 is a schematic diagram of an apparatus 70 provided by an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to enable persons skilled in the art to better understand the schemes in the present application, the technical schemes in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0072] The term "and / or", used in the present document, only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be single or multiple. "At least one of the following" or similar expressions are used to represent any combination of the listed items, for example, at least one of A, B and (or) C can mean that A exists alone, B exists alone, C exists alone, A and B exist together, B and C exist together, A and C exist together, and A, B and C exist together, where A, B and C can be single or multiple.

[0073] The terms "first" and "second" and the like in the description and claims of the present application are used to distinguish different objects, and are not used to describe the specific order of the objects. For example, the first target object and the second target object are used to distinguish different target objects, and are not used to describe the specific order of the target objects.

[0074] In the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the present application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0075] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more. For example, a plurality of processing units means two or more processing units; a plurality of systems means two or more systems.

[0076] For ease of understanding, the related terms or terms used in the present application will be explained first as follows:

[0077] 1. Mono-static sensing, also known as self-emission and self-reception sensing or single station sensing

[0078] is a sensing mode in sensing technology, mainly referring to a mode in which a sensing node transmits a sensing signal, the sensing signal encounters a scatterer (scatterer) and is reflected, the sensing node receives the reflected sensing signal of the scatterer, and determines the position of the scatterer based on the reflected sensing signal.

[0079] 2. Bi-static sensing, also known as self-emission and self-reception sensing or multi-transmission and reception point sensing

[0080] is a sensing mode in the sensing technology, mainly applied in a scenario including two or more sensing nodes, assuming that the scenario includes a sensing node as a sending end and a sensing node as a receiving end, after the sending end sends a sensing signal, the sensing signal encounters a scatter and is reflected, and is received by the sensing node of the receiving end, and the receiving end determines the position of the scatter based on the reflected sensing signal.

[0081] 3、sensing fusion

[0082] It refers to that a certain sensing node can obtain the scatter determined by different sensing nodes (including other sensing nodes), and then fuse the scatter determined by different sensing nodes, so as to obtain the scatter distribution in a larger space range, so as to expand the sensing range or improve the sensing accuracy.

[0083] 4、cooperative sensing

[0084] Through cooperative sensing and sensing data fusion of multiple nodes, multiple modes and multiple frequency points, that is, sensing fusion of sensing data of multiple nodes and different modes.

[0085] 5、scatter, also known as scattering point

[0086] It refers to an object or area that can reflect, refract or diffuse incident light.

[0087] 6、information amount

[0088] In the embodiments of the present application, it can represent how much information, and can also be used to represent how much data occupies resources.

[0089] In some exemplary data transmission scenarios, a plurality of nodes can be included, including a communication-sensing integrated node, a communication node or a sensing node, etc. With the continuous development of communication technology, the communication node can also implement the function of sensing information by deploying a corresponding device. In the embodiments of the present application, all nodes capable of sensing information are collectively referred to as nodes (or sensing nodes). The sensing data transmission method provided by the embodiments of the present application can be applied to a wireless communication system, such as a cellular network or a wireless local area network system. The method can be implemented by a sensing node or a device deployed in the sensing node. The sensing node can be a network device (including a base station), a user equipment (or terminal device, etc.), a sensing management function (SMF), etc. The device provided by the embodiments of the present application can be a whole machine device, or a chip or processing system installed in the whole machine device, etc. The device installed with the chip or processing system can realize the method and function of the embodiments of the present application under the control of the chip or processing system, such as the device can be a communication device or a chip or processor in the communication device, etc. FIG. 1 is a structural schematic diagram of a system 100 provided by an embodiment of the present application. As shown in FIG. 1, the system 100 includes a plurality of nodes, such as a first node 10, a second node 20 and a third node 30, etc. The first node 10 can be a network device such as a base station (BS) or RAN, a UE (or terminal device), an SMF, etc. In FIG. 1, the first node 10 is taken as an example of a UE. The second node 20 can be a network device such as a base station (BS) or RAN, a UE (or terminal device), an SMF, etc. In FIG. 1, the second node 20 is taken as an example of a base station. The third node 30 can be a network device such as a base station (BS) or RAN, a UE (or terminal device), an SMF, etc. In FIG. 1, the third node 30 is taken as an example of an SMF. FIG. 1 is only an example of a system and is not limited.The system 100 can be a wireless local area network (WLAN), a narrow band-internet of things (NB-IoT), a global system for mobile communications (GSM), an enhanced data rates for GSM evolution (EDGE), a wideband code division multiple access (WCDMA), a code division multiple access 2000 (CDMA2000), a time division-synchronization code division multiple access (TD-SCDMA), an LTE system, satellite communication, a 5th-generation (5G) communication system, a 6th-generation (6G) communication system, or a new communication system to be developed in the future.

[0090] Examples of the UE involved in the embodiments of the present application include a terminal (terminal device), a mobile station (MS), a mobile terminal (MT), and the like. The UE can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can be deployed on water, such as a ship, etc.; and can also be deployed in the air, such as an airplane, a balloon, a satellite, and the like. The UE can be a mobile phone, a pad, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self driving, a wireless terminal device in remote medical treatment, a wireless terminal device in a smart grid, a wireless terminal in transportation safety, a wireless terminal device in a smart city, a wireless terminal in a smart home, a robot, a smart robot, and the like.

[0091] The network device involved in the embodiments of the present application is exemplified as follows: an apparatus providing a wireless communication function for a terminal device in a radio access network (RAN), referred to as a RAN device. The RAN can be an access network in the 3rd generation partnership project (3GPP), for example, a 4G, 5G, or future-oriented 6G network. The RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a communication network of two or more of the above networks. The RAN device can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation base station (gNB) in a 5th generation (5G) mobile communication system, a next-generation base station in a 6th generation (6G) mobile communication system, a base station in a future mobile communication system, an access node in a wireless fidelity (WiFi) system, a long range radio (LoRa) system, or a vehicle-to-everything system. The RAN device can also be a module or unit that completes part of the functions of a base station, for example, a centralized unit (CU), a distributed unit (DU), or a radio unit (RU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP). The DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete part of the physical layer or the entire physical layer. For specific descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd generation partnership project (3GPP). The CU and the DU can be separately arranged or included in the same network element, for example, a baseband unit (BBU).The RU can be included in a radio frequency device or a radio frequency unit, for example, included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, the CU, the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, and the RU can also be referred to as an O-RU. Any of the CU (or CU-CP, CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. The radio access network device can be a macro base station, a micro base station, or an indoor station, and can also be a relay node, a donor node, or the like. The embodiments of the present application do not limit the specific technology and specific device form adopted by the radio access network device. For ease of description, the base station is taken as an example of the radio access network device.

[0092] The SMF involved in the embodiments of the present application is applicable to a sensing network element, which can be deployed alone or combined with other network elements.

[0093] In a possible implementation, the perception data transmission method provided by the embodiment of the present application can be applied in a scenario including a center node and other nodes (such as edge nodes), or the method can also be applied in a scenario without a center node. In the scenario of perception data transmission, the device with a perception fusion requirement (that is, with a perception task, and the perception data needs to be obtained by fusing the perception information acquired by other nodes) is referred to as a second communication device (or can be referred to as a superior device), the node (that is, the node including the second communication device) in which the second communication device is located is defined as a second node (or can be referred to as a superior node), or when the second communication device is a node, the node is defined as the second node. The device that sends the perception data to the second node is referred to as a first communication device (or can be referred to as an inferior device), the node (that is, the node including the first communication device) in which the first communication device is located is defined as a first node (or can be referred to as an inferior node), or when the first communication device is a node, the node is defined as the first node. In the embodiment of the present application, the data, information and the like sent by the first communication device to the second communication device are referred to as reporting. In the embodiment of the present application, the functions of each node can also be performed by a module (such as a chip) therein, or can be performed by a control subsystem including the function, and the like. For example, if the node is a base station, the main body of the node performing each corresponding step of the embodiment of the present application can be a control center in intelligent power grids, industrial control, intelligent transportation, smart city and the like. Further, the perception data transmission method provided in the embodiment of the present application can also be applied in other systems, and accordingly, the name can also be replaced by the name of the corresponding function in other systems, without being limited by the examples of the embodiment of the present application.

[0094] The embodiment of the present application provides a perception data transmission method, which does not need to send all the perception data perceived by each first communication device to the second communication device, and therefore can reduce the transmission cost of the perception data. FIG. 2 is one of flow diagrams of a perception data transmission method provided by the embodiment of the present application, which is taken as an example to illustrate that the method is performed by a second communication device (for example, a chip). The second communication device can be a device in a second node, or can be a second node, the first communication device can be a device in a first node, or can be a first node, and the embodiment of the present application is not limited thereto. As shown in FIG. 2, the method includes S101 to S102.

[0095] S101, the second communication device receives first perception data sent by the first communication device.

[0096] Referring to the example of FIG. 1, taking the communication device as a node for example, the second communication device can be the base station 20, the first communication device can be the UE 10, or the SMF 30; or the second communication device can be the UE 10, the first communication device can be the base station 20, or the SMF 30; or the second communication device can be the SMF 30, the first communication device can be the UE 10, or the base station 20, and the like.

[0097] The first perception data includes the first communication device perceiving the scatterers in the current scene, and the perception data is obtained in a predetermined manner according to the perceived information. For example, the first communication device can obtain a set of data as the first perception data by a predetermined algorithm or a predetermined summary manner from the information of each scatterer in the current scene. The first communication device usually perceives a large number of scatterers, for example, a large number (such as thousands or tens of thousands) of scatterer information can be obtained at one time. By the predetermined manner, the large amount of scatterer information obtained is calculated or summarized to obtain a set of first perception data, which can greatly reduce the amount of information carried in the first perception data, and at the same time can represent the information of the scatterers perceived by the first communication device.

[0098] For example, the second communication device can receive the first perception data sent by multiple first communication devices. For example, referring to FIG. 1, assuming that the second communication device is the base station 20, the first communication device 10 is a mobile phone, and another first communication device 10 is a car, the mobile phone and the car both send the first perception data to the base station 20, and then the base station 20 receives the first perception data sent by multiple first communication devices.

[0099] S102, the second communication device sends first indication information, the first indication information is used to indicate that the first communication device feeds back the second perception data, and the information amount of the second perception data is greater than that of the first perception data.

[0100] After receiving the first perception data, the second communication device can send the first indication information to the second communication device which needs to feed back the second perception data. For example, the communication device which needs to feed back the second perception data can be one or more, and the embodiments of the present application take the communication device as a first communication device for example, and other communication devices can refer to the first communication device provided by the embodiments of the present application, and will not be expanded.

[0101] For example, the second perception data can be data obtained by the first communication device perceiving information of scatterers. For example, the information corresponding to each scatterer. Compared with the first perception data, it can be seen that the more scatterers perceived by the first communication device, the more information the second perception data has than the first perception data. For example, the first communication device perceives information of ten thousand scatterers, and if a set of data related to the characteristic type is extracted from the information of the ten thousand scatterers according to a pre-set manner based on the coordinates of the scatterers, etc., as the first perception data, and the first perception data is transmitted to the second communication device, the transmission overhead is much smaller than that of transmitting the information of the ten thousand scatterers perceived by the first communication device to the second communication device without any extraction, summarization or calculation. The amount of information transmitted by the first perception data is related to the characteristic type, and the amount of information transmitted by the second perception data is positively related to the number of scatterers. Assuming that there are four characteristic types and ten thousand scatterers, the first perception data can carry data corresponding to the four characteristics, for example, four data, and the second perception data needs to carry data related to the ten thousand scatterers. Through the example, it is not difficult to see that the amount of information of the first perception data is much smaller than that of the second perception data, or the data carried by the first perception data occupies much less resource than the data carried by the second perception data.

[0102] The embodiment of the present application first reports by the first communication device, that is, the first perception data is transmitted, and the second communication device sends first indication information to the communication device (that is, the first communication device) that needs to provide the second perception data based on the first perception data. The first communication device that receives the first indication information needs to report the second perception data with larger information amount and more data resource occupation to the second communication device, that is, the second reporting. Through the two-level reporting transmission method of perception data determined by the indication of the second communication device, the resource occupied by the transmission data in the first reporting can be greatly reduced, and the waste of resources is reduced. At the same time, the second perception data required by the second communication device can also be reported according to the indication, and the perception data that needs to be reported will not be missed, which not only saves the transmission overhead, but also guarantees the transmission efficiency.

[0103] FIG. 3 is a flow diagram of a perception data transmission method provided by an embodiment of the present application, which is taken as an example to illustrate the method executed by a first communication device (for example, a chip). The first communication device can be a device in a first node or a first node, and the second communication device can be a device in a second node or a second node, which is not limited by the embodiment of the present application. As shown in FIG. 3, the method includes S201 to S202.

[0104] S201, the first communication device transmits first perception data.

[0105] For example, the first perception data can be data obtained (e.g., extracted, calculated, or summarized, etc.) from the information of the perceived scatterers. For example, the first perception data can include at least one of a target number, a target position in space, a target velocity, and a target category.

[0106] Optionally, before S201, the first communication device can first perform perception, perceive information of scatterers, and obtain first perception data according to the information of all perceived scatterers.

[0107] For example, the first communication device can first perform spatial clustering on all perceived scatterers, and a cluster of scatterers is referred to as a "scatterer cluster" (which can also be simply referred to as a "cluster"). In an embodiment of the present application, the scatterers in each "scatterer cluster" can be defined as belonging to the same target. The first communication device can count the number of "clusters" obtained by clustering, which is the target number. The first communication device can calculate the average speed of the scatterers (e.g., multiple scatterers) in each "cluster" as the target velocity of each target. The first communication device can calculate the average spatial position coordinates of the scatterers (e.g., multiple scatterers) in each "cluster". For example, a grid-based target distribution matrix can be obtained based on a gridding method, and the position information of the target in space can be obtained. The position information of the target in space can be represented by a target distribution. The first communication device can use a target recognition algorithm to identify and classify the type of the target for each "cluster". For example, the target recognition algorithm can be a machine learning-based algorithm or a non-machine learning algorithm, and the present application does not limit the algorithm.

[0108] It should be understood that the gridding method can refer to FIG. 4, the current environment (also referred to as a scene in the embodiments of the present application) perceived by the first communication device, can be as shown in the left part of FIG. 4, the positions of the plurality of scatterers in the environment are obtained, the environment is gridded, that is, the left part of FIG. 4 is gridded into a grid map to obtain grid data, wherein the grid map refers to an environment representation method in which the environment is divided into a plurality of grids, and quantity information is stored or occupied in each grid. One possible expression is that when no quantity information is stored or occupied in a grid (that is, there is no scatterer in the grid), that is, the grid unit area is in an idle state, the unit value of the grid can be represented by 0, and correspondingly, when quantity information is stored or occupied in a grid (that is, there is a scatterer in the grid), that is, the grid unit area is in an occupied state, the unit value of the grid can be represented by 1. One possible expression is that the value of each grid can express the number of scatterers in the grid, and at this time, the grid value can be determined according to the number of scatterers, and is not limited to be represented by 0 or 1.

[0109] Optionally, the first perception data obtained by the first communication device can further include at least one of the number of scatterers, the average signal-to-noise ratio, the average power, and the like, in addition to the above-mentioned target-related features, and is not limited by the above examples.

[0110] S202, if the first communication device receives the first indication information, the second perception data is fed back according to the first indication information, and the information amount of the second perception data is greater than that of the first perception data.

[0111] Corresponding to the step of S102, if the second communication device indicates to the first communication device that the second perception data needs to be reported by the first communication device, the first communication device can trigger the reporting of the second perception data to the second communication device according to the reception of the first indication information.

[0112] For example, the second perception data can correspond to information of all scatterers perceived by the first communication device, and be reported to the second communication device in different formats through different data modes. For example, the second perception data can be reported based on a data mode of features, and include at least one of a feature of each scatterer, such as a scatter ID, a three-dimensional coordinate (x, y, z), an angle, a likelihood, a power, a velocity, a scatter type (scatter_type=3), and a confidence.

[0113] The first communication device first performs first-level reporting. If an indication of the second communication device is received, the second communication device needs to report the second perception data, and then the first communication device reports the second perception data with a larger amount of information and more data resource occupation to the second communication device, that is, performs second-level reporting. This two-level reporting method can effectively reduce the data transmission cost of the first communication device. When the second communication device does not need information of scatterers perceived by the first communication device, the second perception data is not reported, which greatly reduces the resource occupation of the transmission of the perception data and reduces resource waste. When the second communication device needs information of scatterers perceived by the first communication device, the second perception data is reported, which can also ensure that no perception data needs to be reported is missed, and the accuracy of transmission is ensured.

[0114] In a multi-node, multi-mode, multi-frequency point cooperative sensing and sensing data fusion scene, a cooperative sensing method is to report the information of scatterers sensed by a first node to a second node without discrimination and at one time. This transmission mode can cause a large amount of redundant data and invalid data to be uploaded, resulting in resource waste. The two-level reporting sensing data transmission method provided in the embodiments of the present application can reduce the transmission overhead of sensing data and reduce resource waste.

[0115] The two-level reporting sensing data transmission method is described below by taking an example of a cooperative sensing scene in which sensing data transmission is implemented. The method is described by taking the execution of a first node and a second node as an example, but is not limited thereto. FIG. 5 is a flowchart of a sensing data transmission method according to an embodiment of the present application. As shown in FIG. 5, the method includes S301 to S309.

[0116] It should be understood that, as shown in FIG. 6, the first node provided in the embodiments of the present application refers to a node that can sense the information of scatterers and report the sensed information to a node (i.e., a second node) that needs to aggregate the sensed information. The second node provided in the embodiments of the present application refers to a node that needs to aggregate the sensed information. Optionally, the first node can be any one of a UE, a base station or an SMF, and the second node can be any one of a UE, a base station or an SMF. For example, in a possible implementation, the first node can be a mobile phone 1, and the second node can be a base station 1. The first node reports sensing data to the second node, which is an uplink data transmission mode. In a possible implementation, the first node can be a mobile phone 1, and the second node can be a mobile phone 2. The first node reports sensing data to the second node, which is a sidelink data transmission mode. In a possible implementation, the first node can be an SMF, and the second node can be a car 1. The first node reports sensing data to the second node, which is an uplink data transmission mode. In a possible implementation, the first node can be a base station 1, and the second node can be a mobile phone 1. The first node reports sensing data to the second node, which is a downlink data transmission mode, and so on.

[0117] S301, the first node reports the sensing capability of the node to the second node.

[0118] The sensing capability of a node can include, but is not limited to, the capability of sensing optical information, the capability of sensing sound information, the capability of sensing motion information, and the capability of sensing spatial information, etc. For example, the capability of sensing optical information includes that the node can acquire image information of a scatterer in a scene where the node is located through a camera, a laser radar, etc.; the capability of sensing sound information includes that the node can acquire sound and sound wave information of a scatterer in a scene where the node is located through a microphone, a sonar, etc.; the capability of sensing motion information includes that the node can acquire state information such as target speed and angle of a scatterer in an environment where the node is located through an acceleration sensor, a gyroscope, etc.; and the capability of sensing position information includes that the node can acquire latitude and longitude information of a scatterer in an environment through a GPS, etc.

[0119] For example, if the first node is a UE and the second node is a base station, the UE can report the sensing capability of the UE to the base station, such as reporting one or more of the sensing capabilities in the above examples, or other sensing capabilities, etc.

[0120] It should be understood that in a scene, at least one first node can report its sensing capability to a second node, and embodiments of the present application take the interaction between one first node and a second node as an example for description, and other first nodes can perform operations according to the steps of the first node in the method shown in FIG. 4.

[0121] S302, the second node sends sensing control information to the first node according to the sensing capability of the first node.

[0122] Optionally, the second node can also send sensing control information to the first node whose sensing capability is related to a current sensing task of the second node according to the sensing capability reported by the first node and the current sensing task of the second node. For example, if the current sensing task of the second node is to sense the position, type, and motion of a scatterer in a current scene, and the sensing capability of the first node includes at least one of acquiring position, type, and motion information of the scatterer, such as the capability of sensing position information and the capability of sensing motion information, etc., the second node can determine that the first node needs to report the information sensed by the first node, and thus sends second indication information, such as sensing control information, to the first node to instruct the first node to report first sensing data. Optionally, the second indication information can further indicate which data the first sensing data specifically includes in addition to instructing the first node to report the first sensing data.

[0123] Optionally, the second indication information can be certain current perception control information, and an indication bit is added in the second indication information to inform the first node to report the perceived first perception data through the first information. Alternatively, the second indication information can be separately generated indication information to instruct the first node to report the perceived first perception data through the first information (or through a format corresponding to the first information).

[0124] For example, the second node needs different perception information for different perception tasks in different scenarios. For example, in a certain detection task scenario, the perception task of the second node can be to perceive whether there is a moving person in the current environment, and the second node can instruct the first node to report first perception data related to the target type of a person and the movement of the person.

[0125] For example, the first node can carry the first perception data through the first information. The first information can be information for indicating the reported information, or information for other purposes, which is not limited in the embodiments of the present application. The example of FIG. 5 is described by taking the first perception information carried by the first information as an example, but is not limited thereto. Only the first perception data is transmitted, or the first perception data reaches the second node in other forms, which can also be implemented by referring to the method provided in the embodiments of the present application, and is not described in detail.

[0126] S303, the first node calculates the first perception data according to the perceived information, and generates the first information.

[0127] In a possible implementation, there is no sequence relationship between S302 and S303. The first node can trigger the calculation after perceiving the information of the scatterer to obtain the first perception data. For example, the format of the first perception data is preset in the first node. After the first node perceives the information of the scatterer, the corresponding first perception data is obtained according to the required characteristics of the format, and the first information is generated. The method for obtaining the first perception data can refer to S201, which is not described in detail.

[0128] In a possible implementation, S302 is performed before S303. The first node can temporarily store the perceived information of the scatterer, and trigger the calculation to obtain the first perception data after receiving the second indication information. For example, if the second indication information also indicates the perception data that the first node should report, the first node can determine the first perception data according to the indication of the second indication information, carry the first perception data in the first information, and report the first perception data to the second node.

[0129] Exemplarily, the first information generated by the first node can include site information and first perception data, wherein the first perception data can include at least one of a scatter number, an average SNR, an average power, a target number perceived, a target distribution, a target velocity (also referred to as target Doppler), and a target category.

[0130] Table 1

[0131] Table 1 is an example of the first information provided by the embodiments of the present application. As shown in Table 1, the site information in the first information refers to the information of the first node, which can be obtained by sensing in a self-sensing and self-receiving mode, a self-sensing and other-receiving mode, etc. The site information can include at least one of a sensing link ID, a TX ID, an RX ID, a time, an orientation, and a config / capability. Table 1 takes the site information including the sensing link ID, the TX ID, the RX ID, the time, the orientation, and the config / capability as an example for illustration, but is not limited thereto. The sensing link ID includes an identification of a link in which a line of sight (LOS) is located. The TX ID includes an identification of a sensing node (e.g., the first node in the embodiments of the present application) that transmits a sensing signal. The RX ID includes an identification of a sensing node (e.g., the first node in the embodiments of the present application) that receives the sensing signal. The time includes a time stamp corresponding to the sensing signal, such as a time stamp of generating, transmitting, or receiving the sensing signal. The orientation includes a transmission direction of the link in which the sensing signal is located. The config / capability includes at least one of a configuration (config) of the sensing link (e.g., a bandwidth configuration) and a capability (capability) of the sensing node (e.g., the sensing capability provided in the above example).

[0132] As shown in Table 1, the first sensing data in the first information is related to the number of feature types extracted from the scatterers. Compared with the second sensing data that is positively related to the number of scatterers, the first sensing data occupies less resource, and can be regarded as being coarser than the second sensing data. Therefore, the first sensing data can be defined as coarse sensing results, and the second sensing data can be defined as accurate sensing data.

[0133] Exemplarily, the scatter number, the average SNR, the average power, the target number, the target distribution, the target velocity, and the target category in the first perception data can be obtained by the first node according to the information of the scatterers perceived by the first node, statistical analysis and feature extraction. For example, the first node perceives the information of N scatterers, and obtains the position, power, SNR and other information corresponding to the N scatterers, where N is a positive integer. The first node can obtain a set of data related to the feature categories by different statistical analysis and feature extraction methods according to the information of each scatterer, as the first perception data, and does not report all the information of the scatterers to the second node, thereby effectively saving the transmission overhead. For example, the first node can obtain the scatter number according to formula one, and the scatter number is N in this example.

[0134] The first node can obtain the average SNR according to formula two, and the average SNR is the average of the SNRs of the N scatterers in this example. Formula two

[0135] The first node can obtain the average power according to formula three, and the average power is the average of the powers of the N scatterers in this example. Formula three

[0136] The first node can obtain the target velocity according to formula four, and the target velocity can be obtained by averaging the velocities of the N scatterers and the target number perceived by the first node in this example. Formula four

[0137] In this example, the target number can be obtained by a statistical clustering algorithm, such as a "sactter cluster number" function of KMeans. The target distribution can be obtained by a clustering algorithm, such as a "cluster centers" function of KMeans, based on the attributes of the cluster model center points. The target distribution can be used to indicate the position information or position distribution in the space. The target category can be determined by a target recognition algorithm. For example, the target category can be determined as a building, a vehicle, a pedestrian, and an unmanned aerial vehicle (UAV), each of which has different characteristics and behavior patterns. The perceived information can be used to determine the target category using different algorithms and techniques, which will not be described in detail.

[0138] Optionally, the format of the first perception data can be pre-set or generated according to the received first information indicating the perception data to be carried. Assuming that the first node can obtain the scatter number, the average SNR, the average power, the target number, the target distribution, the target velocity, and the target category based on the perceived information of the multiple scatters. Table 2 is an example of a pre-set format of the first perception data of the first node.

[0139] Table 2

[0140] In one possible implementation, after the first node perceives the information of the N scatterers, the first node obtains the scatter number, the perceived target number, the target distribution, the target velocity and the target category. If the second node does not indicate the perceived data to be carried, the first node can obtain the first perceived data in the first information in the format of Table 2(a) or Table 3. Table 2(a) or Table 3 is an example, Table 2 is an example of the format that can be used by the first node with different perception capabilities, Table 3 is an example of the format based on the types of features that can be obtained by the perception capability of the first node, and Table 2(a) is an example based on the format of Table 2 that has been generated by the first node, in which the positions of the perceived data that are not obtained by the first node are left empty.

[0141] For example, the first perceived data carried in the first information can refer to Table 2(a).

[0142] Table 2(a)

[0143] Table 3

[0144] If the second node indicates the perceived data to be carried in the second indication information, for example, although the first node obtains the data corresponding to the five types of features of the scatter number, the perceived target number, the target distribution, the target velocity and the target category, the second node indicates that the data corresponding to the three types of features of the target distribution, the target velocity and the target category are to be carried, the first node can carry the first perceived data in the first information in the format of Table 2(b), Table 4 or Table 5, wherein Table 2(b) is an example based on the format of Table 2 that has been generated by the first node, in which the positions of the data that are not to be carried are left empty, Table 4 is an example based on the format of Table 3 that has been generated by the first node, in which the positions of the data that are not to be carried are left empty, and Table 5 is an example of carrying the perceived data required by the second node.

[0145] Table 2(b)

[0146] Table 4

[0147] Table 5

[0148] It should be understood that in the embodiments of the present application, the examples of numerical value 1 to numerical value 4 are provided, which do not represent specific numerical values, and the values can be determined according to the actual applicable scene.

[0149] S304, the first node sends the first information to the second node.

[0150] S305, the second node determines whether the first node needs to report the second information according to the first perception data and the current perception task.

[0151] After the second node receives the first information, the first perception data is obtained, and it can be determined whether the first node needs to report more accurate perception data, i.e., second perception data, based on the current perception task of the second node. The embodiments of the present application take the second perception data carried in the second information as an example for illustration, but are not limited thereto.

[0152] For example, the second node can determine whether the first node reports the second information according to different rules. For example, when the scatter number is greater than a first preset threshold, and the first perception data corresponds to the requirement of the current perception task of the second node, it is determined that the first node needs to report the second information (i.e., more accurate perception data) to the second node, otherwise, the first node does not need to report the second information to the second node. In this example, the second node has a basic requirement for the scatter number perceived by the first node. If the scatter number does not meet the requirement, it is determined that the data provided by the first node cannot meet the accuracy required by the second node, and therefore it is determined that the first node does not need to report the second information. Alternatively, if the scatter information perceived by the first node is irrelevant to the requirement of the current perception task of the second node, such as the perception task needs to determine the target Doppler (target velocity), but the first node can only provide data of the target distribution, then the first node does not need to report the second information. Alternatively, if the perception task requires data of a scatter body with target Doppler (target velocity) of 0, but the target Doppler (target velocity) provided by the first node is not 0, it means that the scatter body perceived by the first node does not have target Doppler (target velocity) of 0, i.e., it does not meet the requirement of the perception task, and therefore the first node does not need to report more accurate perception data.

[0153] It should be understood that the requirement that the first perception data corresponds to the requirement of the perception task includes the requirement that the comprehensive value calculated from the first perception data according to the predetermined algorithm meets the threshold value corresponding to the perception task, etc. For example, the current perception task of the second node obtains a threshold value according to different weights or confidence levels of certain data, etc. When the second node receives the first perception data, the comprehensive value calculated according to the predetermined algorithm corresponding to the algorithm of the threshold value obtained by the perception task, if the comprehensive value meets the requirement of the threshold value, the first perception data corresponds to the requirement of the perception task, otherwise, the first perception data does not correspond to the requirement of the perception task. For example, assuming that a perception task needs to be implemented according to target number, target distribution, target velocity and target category, wherein the weights of the target number and the target distribution are higher, and the weights of the target velocity and the target category are lower, the second node can obtain a threshold value according to the weights and the values of the expected characteristic categories, and then calculate a comprehensive value corresponding to the received first perception data based on the same weights, if the comprehensive value is greater than the threshold value, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed; or, if the comprehensive value is less than the threshold value, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed; or, assuming that the threshold value is a numerical range, when the comprehensive value calculated according to the first perception data is within the numerical range, it is judged that the first node requiring the first perception data needs to provide the second perception data, otherwise, it is not needed.

[0154] In another possible implementation, the first node can also determine whether the first node needs to report the second information (i.e., more accurate perception data) to the second node according to whether the values corresponding to one or more feature categories in the first perception data meet the requirements of the current perception task of the second node. For example, if the current perception task of the second node is to perceive pedestrians, the power of the perceived signal is not less than A watts, the accuracy of perceiving pedestrians is not less than B, and the like. Suppose the feature categories corresponding to the perception task and the expected values are that the target category is pedestrians, the average SNR is not less than A watts, and the scatter number is greater than C, where C is obtained according to B, and A and B are positive numbers and C is a positive integer. If the target category in the first perception data includes pedestrians, the average power is not less than A watts, or the scatter number is not less than C, the first node needs to send the second information again.

[0155] The following is described with an example. The second node can receive the first information sent by multiple first nodes. It is assumed that the first information sent by the first node 1 carries the first perception data in which the target category is building, the average power is greater than A watts, and the scatter number is greater than C; the first information sent by the first node 2 carries the first perception data in which the target category includes building and pedestrians, the average power is greater than A watts, and the scatter number is greater than C; and the first information sent by the first node 3 carries the first perception data in which the target category includes pedestrians, the average power is greater than A watts, and the scatter number is less than C. According to the current judgment rule, the second node can determine that the first node corresponding to the first perception data in which the target category includes pedestrians, the average power is not less than A watts, and the scatter number is not less than C is a node that needs to continue to provide more accurate perception data, that is, the second node determines that the first node 2 should continue to report more accurate second perception data, and the first node 1 and the first node 3 do not report again.

[0156] Referring to FIG. 7 and FIG. 8, FIG. 7 is a structural schematic diagram of a common perception scene 200 provided by an embodiment of the present application, and FIG. 8 is a perception data reporting schematic diagram of the common perception scene 200 provided by an embodiment of the present application. As shown in FIG. 7, the first node 1, the first node 2, and the first node 3 all send the first information to the second node. It is assumed that the second node determines that the first node 2 should continue to report more accurate second perception data, and the first node 1 and the first node 3 do not report again. Referring to FIG. 8, in subsequent transmission, the second information is continued to be sent by the first node 2, and the perception data of the first node 1 and the first node 3 does not meet the demand of the current perception task of the second node, and does not need to report information again, thereby effectively reducing the transmission cost and reducing the waste of resources.

[0157] For example, each first perception data can include information of a "cluster" or multiple "clusters" of related features, and the second communication device can determine to send the first indication information to the first communication device if the data of at least one "cluster" meets the perception task of the second communication device. For example, if the perception task of the second node corresponds to obtaining data of a scatterer with a target velocity of 0, the first perception data includes a target velocity including the velocity of at least one "cluster", and the value of the at least one "cluster" is 0, the second node can determine that the first node needs to send the first perception data, and send second perception data.

[0158] The first node provided by S306 to S309 of the embodiment of the application refers to a node determined by the second node to need to report second information, such as the first node 2. For a node that does not need to report second information, the second node does not send the first indication information, or sends the first indication information to inform that the node does not need to continue to report information in the perception data reporting of the current round, and therefore the execution steps of the node are not described.

[0159] S306, the second node sends the first indication information to the first node, and the first indication information is used to instruct the first node to feed back second information.

[0160] Optionally, the first indication information can only instruct the first node to feed back second information to the second node. Alternatively, the first indication information can instruct the first node to feed back second information to the second node, and instruct that the perception data carried in the second perception data of the second information should be carried.

[0161] S307, the first node generates second information according to the first indication information.

[0162] The amount of information of the second perception data in the second information generated by the second node is greater than the amount of information of the first perception data, that is, the first perception data is a group of relatively rough (low information amount) data obtained by the first node after perceiving information of multiple scatterers, and is used to be sent to the second node. The second node determines, based on the first perception data, whether the data perceived by the first node is needed for the perception task of the second node. If yes, the first node carries the second perception data (data of each scatterer, large information amount) in the second information according to the instruction of the second node, and sends the second information to the second node.

[0163] Exemplarily, the second information can carry different forms of second perception data. In some scenarios, the scatterers perceived by the first node can include multiple types. In order to facilitate the second node to fuse the perception information, in the second information, the scatter_type and the confidence of each scatterer can be respectively indicated in the data part of the scatter info. It should be understood that in different application scenarios, the perception data included in the second information sent by the first node to the second node can also be different. In order to facilitate the second node to identify, the data format of the second information can be indicated in the data format part of the scatter info of the second information, and the corresponding information of the scatterer can be represented by different feature types.

[0164] In a possible implementation, the second information can include scatter info, data format, site info and data. In the scatter info, the content included in the second information is included. The data format includes a feature-based data format, a grid-based data format, etc. For example, different numerical values can be used to represent different data formats. If the data format takes 0, it means that the second information is a feature-based data format. If the data format takes 1, it means that the second information is a grid-based data format. The site info includes the information of the receiving and sending sites. The content of the site info can refer to the example in Table 1, and will not be described in detail. The data is the corresponding information of the scatterer corresponding to the data format.

[0165] The following two examples are used to illustrate the second information, but are not limited thereto.

[0166] Table 6 is an example of the second information based on the feature-based data format. Table 6 takes the corresponding information of N scatterers currently perceived by the first node as an example.

[0167] Table 6

[0168] In Table 6, data_format = 0, indicating that the second information is a feature-based data format, that is, the data corresponding to the scatterer can be expressed in the form of a set of information of N (N is a positive integer greater than or equal to 1) scatterers, and the information of each scatterer in the set can include: scatter ID, three-dimensional coordinates (x, y, z), angle, likelihood, power, velocity, scatter_type, confidence, etc. Taking scatterer 1 as an example, the scatter ID refers to the unique identification of scatterer 1; the three-dimensional coordinates refer to the three-dimensional coordinates of scatterer 1 in the current scene (or current environment); the angle includes the angle of departure (AoD) of the scatterer 1; the likelihood can be used to represent the corresponding weight size of the scatterer 1 in the perception fusion process; the power includes the power of the perception signal; the velocity refers to the moving speed of the scatterer 1, etc. The scatter_type can be different types of scatterers existing in the current scene, identified by different numerical values, for example, there can be scatterers determined by the self-initiated self-reception perception mode in the current scene, which can be denoted as 1, there can be scatterers determined by the self-initiated other-reception perception mode, which can be denoted as 2, there can be scatterers through which the first reflection of the self-initiated other-reception perception mode occurs, which can be denoted as 3, there can be scatterers through which the last reflection of the self-initiated other-reception perception mode occurs, which can be denoted as 4, there can be scatterers with known position information in the current scene, which can be denoted as 5, or 0, etc. The scatter_type can be two or more of the above five types of scatterers, or can not be limited to the five types, and the embodiments of the present application only illustrate the possible scatter_type, but do not make any limitation. Referring to Table 6, the scatter_type of scatterer 1 is scatter_type = 3, indicating that the scatterer 1 is a scatterer through which the first reflection of the self-initiated other-reception perception mode occurs, and the self-initiated other-reception perception mode occurs at least twice. Confidence; the confidence can be used to indicate the probability of the scatterer 1 being at the measurement position. The characteristics of the scatterers in Table 6 are only an example, and the characteristics included by the scatterers in different application scenarios can be different from the example, for example, the data of the scatterers can include other information, or the data of the scatterers can include one or more of the examples, and the embodiments of the present application do not make any limitation.

[0169] Table 7

[0170] Table 7 is an example of the second information of the grid-based data format.

[0171] In Table 7, data_format = 1, indicating that the second information is a grid-based data format, that is, the data corresponding to the scatterer can be a set of information of each scatterer, which refers to a certain type of scatterer, such as the information of a certain type of scatterer in the current scene as a grid can include: grid_size, the default value is 1m, which can be adjusted according to the perceived environment; grid_range, that is, the maximum and minimum values of the grid on each axis in three-dimensional space; grid_matrix, which refers to the value of each unit of the matrix as the probability value of the presence of the scatterer in the current grid.

[0172] It should be understood that the first node can generate the second information according to the preset rules of the node and the perceived information, for example, the preset rule can be a preset data format, when the preset data format is 1, the second information in the format shown in Table 7 is generated, etc. Alternatively, the second node can indicate the data format to the first node in the first indication information according to its perception task, for example, if the first indication information includes data_format = 0, the first node generates the second information according to the format shown in Table 6. Alternatively, the first node can combine the preset rule and the first indication information to generate the second information according to the perceived information, for example, the preset rule can include that if the data_format = 0, the second information is generated in the format of Table 6, if the data_format = 1, the second information is generated in the format of Table 7, and if the first indication information indicates that the data_format = 0, the first node generates the second information according to the perceived information in the format of Table 6.

[0173] In a possible implementation, the second node can further indicate the perception data required to be carried to the first node according to the perceived requirements, for example, the perception task of the second node is to determine whether a person enters the environment, according to the perception task, the second node can require the information of the scatterer reported by the first perception node to at least include velocity, and the first node can determine that the perceived information includes velocity when generating the second information, so as to avoid missing the data required by the second node when reporting. Alternatively, based on the requirement of the second node for velocity, the format of Table 6 providing the velocity of the scatterer is selected to generate the second information, etc.

[0174] S308, the first node sends second information to the second node.

[0175] S309, the second node completes data fusion of cooperative sensing according to the received second information.

[0176] For example, the second node can receive second information reported by multiple first nodes, and the second node can perform data fusion of cooperative sensing according to multiple groups of received second information, such as performing fusion processing on the same type of scatterer, or performing fusion processing on several types of scatterers according to different design methods, to expand the sensing range and improve the fusion efficiency.

[0177] In the following, the embodiment of the present application is applied to different sensing task scenarios, and the method is exemplarily described.

[0178] For example, it is assumed that the first node 1 reports the sensing capability of the node to the second node, including the capability of sensing optical information and the capability of sensing sound information; the first node 2 reports the sensing capability of the node to the second node, including the capability of sensing optical information and the capability of sensing motion information; and the first node 3 reports the sensing capability of the node to the second node, including the capability of sensing spatial information. The second node determines the first node having the sensing capability corresponding to the current sensing task based on the current sensing task, and sends second indication information to the first node. If the sensing capabilities of multiple first nodes correspond to the current sensing task of the second node, the second indication information can be sent to these first nodes.

[0179] Optionally, the current sensing task of the second node can be one or more, and the embodiment of the present application is exemplarily described with one sensing task, and other sensing tasks can be referred to the example of the embodiment of the present application, and are not expanded.

[0180] The above steps can also not be performed in the scenario in which the first node and the second node have performed sensing capability interaction. FIG. 9 is a fourth flowchart of a sensing data transmission method provided by the embodiment of the present application, which is exemplarily described with the execution of the first node and the second node, but is not limited. As shown in FIG. 9, the method includes S401 to S407.

[0181] For example, it is assumed that the current perception task of the second node is an environment reconstruction task, which means that the target object in the current scene (environment) that needs to be perceived has a relatively stable relative position and will not move at a high speed or at a speed exceeding the reconstruction speed of the environment. In this case, the second node can instruct the first node to report the first perception data related to the environment reconstruction task in the second indication information. For example, the first node with the ability to perceive optical information and the ability to perceive motion information needs to report the corresponding perceived information for the environment reconstruction task, and the second node can send the second indication information to the first node 1 and the first node 2. Optionally, since the perception capabilities of the first perception node 1 and the first perception node 2 are different, the second indication information sent by the second node to the first node 1 and the second node 2 can be the same, for example, the second indication information can be used to instruct the reporting of the first information, or the second indication information can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability to perceive optical information and the ability to perceive motion information, such as target distribution, target velocity, target category, etc. Alternatively, the second indication information sent by the second node to the first node 1 and the second node 2 can be different, for example, the second indication information sent to the first node 1 can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability to perceive motion information, such as target velocity, and the second indication information sent to the first node 2 can be used to instruct the reporting of the first information, and the first information needs to carry the perceived information related to the ability to perceive optical information and the ability to perceive motion information, such as target distribution, target velocity, target category, etc. The perceived data carried in the first information is only an example, and in actual application, it can be determined according to the requirements of the perception task with reference to the example in Table 1, and is not limited by the present example.

[0182] The subsequent steps are described by taking the first node as the first node 2 as an example, and other first nodes can perform operations according to the present example.

[0183] S401, the first node calculates the first perception data according to the perceived information, and generates the first information.

[0184] If the second indication information received by the first node only indicates that the first information is reported to the second node, the first information can be generated according to the format in Table 2. If the second indication information received by the first node further indicates that the target distribution, the target velocity, the target category and other perception data need to be carried, the first information can be generated according to the format in Table 2(c) or Table 8.

[0185] Table 2(c)

[0186] Table 8

[0187] S402, the first node sends the first information.

[0188] S403, the second node determines whether the first node needs to report the second information according to the first perception data and the current perception task.

[0189] For example, the second node determines that the first node whose target velocity corresponding to the target velocity in the first information is close to 0 needs to report more accurate perception data according to the perception task. In other words, the second node can determine whether the first node corresponding to the target velocity in the first information needs to report the second information according to the value of the target velocity. For example, if the value of the target velocity in the first information sent by the first node 1 is 5, the target velocity corresponding to the target velocity is close to 0, the value of the target velocity in the first information sent by the first node 2 is 8, the target velocity corresponding to the target velocity is close to 0, and the value of the target velocity in the first information sent by the first node 3 is 9, the target velocity corresponding to the target velocity is greater than 0, the second node can determine that the first node 1 and the first node 2 need to report the second information.

[0190] It should be understood that the values 5 to 9 provided in the embodiments of the present application are examples and do not represent specific values. The values can be determined according to the actual scene. For example, in a certain scene, it is determined that the values within the range of 0.01 are close to 0. Therefore, whether the first node needs to report the second information can be determined according to whether the value of the target velocity in the first information is within the range of 0.01.

[0191] S404, the second node sends the first indication information to the first node, and the first indication information is used to indicate that the first node feeds back the second information.

[0192] Taking the example in S403, the second node can send the first indication information to the first node 1 and the first node 2 respectively, and the first indication information indicated by the first indication information can be the same. For example, the second node needs the first node to report the second information with the characteristics of each scatterer, and the first indication information can indicate that the data format (Data_Format) = 0, and further, the first indication information can indicate that the velocity and other characteristics need to be carried in the second information. The first indication information can also correspond to the characteristics that can be sensed according to the sensing capabilities of the first node 1 and the first node 2, and respectively indicate the data that needs to be carried in the second information by the first node 1 and the first node 2, which is not limited by the example.

[0193] The sensing data carried in the second information is only an example, and in actual application, the example in Table 6 or Table 7 can be referred to to determine the sensing task requirements, which is not limited by the example. For example, if the first indication information indicates that the target distribution needs to be carried, the first node can preferably generate the second information in the format shown in Table 7 corresponding to the grid.

[0194] S405, the first node generates the second information according to the first indication information.

[0195] S406, the first node sends the second information to the second node.

[0196] S407, the second node completes the data fusion of cooperative sensing according to the received second information.

[0197] The steps of S405 to S407 can refer to the example of S307 to S309, and will not be expanded.

[0198] The method provided in FIG. 9 in the embodiment of the application can make the second node that needs to perform the environment reconstruction task focus on the information about the target Doppler (target velocity) reported by the first node, and judge the first node that can sense the scatterer (or the target determined by the scatterer) with a speed close to 0 or equal to 0, or a speed lower than a threshold A (the threshold A can be determined according to the speed standard of low-speed motion in the scene), and continue to report more accurate sensing data. The first node does not need to report the sensing data of the moving target with other high speed (such as higher than the threshold A), so as to effectively reduce the transmission of the sensing data useless for the sensing task and reduce the transmission overhead.

[0199] Through the method provided in FIG. 9, the second node can fuse the target velocities provided by the first nodes to obtain an environment diagram as shown in FIG. 10, which includes diagrams of different stationary objects generated by cooperative perception.

[0200] In a possible implementation, the perception task of the second node is to detect a moving target, and the second node schedules the first node whose target category is pedestrians and target velocity is greater than a threshold B, where the threshold B can be determined according to the speed standard of low-speed motion in the scene, or equal to 0, or close to 0, and the like. The first node continues to send the second information if the first perception data conforms to the first information that the target category is pedestrians and the target velocity is greater than the threshold B. For example, the first node 2 is a scheduled node, and the second node sends the first indication information to the first node 2, where the first indication information indicates that the first node 2 reports the second information. Optionally, the first indication information can only indicate that the first node 2 reports the second information, or can specifically indicate the perception data that should be included in the second information. The content indicated by the first indication information can refer to S306 or S404, and will not be described in detail.

[0201] Referring to FIG. 11, the second node can determine whether a pedestrian enters the current environment or moves in the current environment according to the received perception data, to detect whether a person invades the current environment, and the like. The second node can obtain accurate data for the perception task of detecting a moving target, and can reduce transmission of perception data irrelevant to the perception task, and reduce transmission overhead, by using the method for transmitting perception data provided in the embodiments of the present application.

[0202] In a possible implementation, the perception task of the second node is to perceive a target category, and the second node sends the first indication information to the first node whose target category is a vehicle, a pedestrian, a drone, an animal, or a tree, and the corresponding first node continues to send the second information. For example, the first node 2 is a scheduled node, and the second node sends the first indication information to the first node 2, where the first indication information indicates that the first node 2 reports the second information. Optionally, the first indication information can only indicate that the first node 2 reports the second information, or can specifically indicate the perception data that should be included in the second information. The content indicated by the first indication information can refer to S306 or S404, and will not be described in detail.

[0203] Referring to FIG. 12, the second node can determine vehicles, pedestrians, drones, animals, trees, etc. in the current scene according to the received perception data. The second node can obtain accurate data for the detection of moving targets by using the method for transmitting perception data, and can reduce the transmission of perception data irrelevant to the perception task, thereby reducing the transmission overhead.

[0204] FIG. 13 is a structural schematic diagram of a second communication device according to an embodiment of the present application. The second communication device 40 includes a receiving module 401 and a sending module 402.

[0205] The receiving module 401 is configured to receive first perception data sent by a first communication device.

[0206] The sending module 402 is configured to send first indication information, where the first indication information is used to instruct the first communication device to feed back second perception data, and an information amount of the second perception data is greater than an information amount of the first perception data.

[0207] In a possible implementation, the first perception data includes at least one of a target quantity perceived by the first communication device, position information of a target in space, a target speed, or a target type.

[0208] In a possible implementation, the first perception data further includes at least one of a scatterer quantity, an average signal-to-noise ratio, or an average power.

[0209] In a possible implementation, the second perception data includes scatterer information perceived by the first communication device, where the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer; or the scatterer information includes at least one of a grid size, a grid range, or a grid matrix of a grid corresponding to the scatterer.

[0210] FIG. 14 is a structural schematic diagram of another second communication device according to an embodiment of the present application. The second communication device 40 includes a receiving module 401, a sending module 402, and a processing module 403.

[0211] The processing module 403 is configured to determine, according to the first perception data and a perception task, that the first communication device needs to feed back the second perception data.

[0212] In a possible implementation, the sending module 402 is further configured to send second indication information, where the second indication information is used to indicate that the first node sends the first sensing data to the second node, or the first sensing data and content contained in the first sensing data, and the content contained in the first sensing data includes at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio, and average power.

[0213] In a possible implementation, the first indication information is further used to indicate, to the first node, content contained in the second sensing data, where the content contained in the second sensing data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first region size corresponding to a scatterer, a position range of the first region in space, or a first region matrix, where the first region is a region obtained by dividing space. For example, the first region can be a grid, and the content contained in the second sensing data includes at least one of a grid size, a grid range, or a grid matrix of the grid.

[0214] It should be understood that the modules shown in FIG. 13 and FIG. 14 are merely examples, and each module can perform operations according to the method part of the embodiments of the present application or a variation of the operations performed thereby. In the examples provided by the embodiments of the present application, other operations can also be performed, and the examples are not limited.

[0215] FIG. 15 is a structural schematic diagram of a first communication device according to an embodiment of the present application. The first communication device 50 includes a receiving module 501 and a sending module 502.

[0216] The sending module 502 is configured to send first sensing data. If the receiving module 501 receives first indication information, the sending module 502 is further configured to feed back second sensing data according to the first indication information, where the information quantity of the second sensing data is greater than that of the first sensing data.

[0217] In a possible implementation, the first sensing data includes at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, or target type.

[0218] In a possible implementation, the first sensing data further includes at least one of a scatterer quantity, an average signal-to-noise ratio, and an average power.

[0219] In a possible implementation, the second perception data includes information of scatterers perceived by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed or a credibility of each scatterer; or the scatterer information includes at least one of a grid size, a grid range or a grid matrix of a grid corresponding to the scatterer.

[0220] In a possible implementation, the receiving module 501 is further configured to receive second indication information, where the second indication information is used to indicate that the first node sends the first perception data to the second node, or the first perception data and content contained in the first perception data, and the content contained in the first perception data includes at least one of a target quantity, position information of a target in space, a target speed, a target type, a scatterer quantity, an average signal-to-noise ratio or an average power perceived by the first communication device.

[0221] In a possible implementation, the first indication information is further used to indicate, to the first node, content contained in the second perception data, where the content contained in the second perception data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed or a credibility of each scatterer; or includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space or a first region matrix, where the first region is a region obtained by dividing the space. For example, the first region is a grid, and the content contained in the second perception data includes at least one of a grid size, a grid range or a grid matrix of the grid.

[0222] It should be understood that the modules shown in FIG. 15 are only examples, and each module can perform its operation according to the method part of the embodiments of the present application or a variation of the operation thereof. In the examples provided by the embodiments of the present application, other operations can also be performed, and the examples of the embodiments of the present application are not limited thereto, such as the perception module for perceiving scatterer information in the first communication device.

[0223] In addition, as shown in FIG. 16, FIG. 16 is a structural schematic diagram of the device 60 according to the embodiments of the present application. The device 60 shown in FIG. 16 includes a transceiver 601 and a processor 602. The device 60 corresponds to the second communication device or the second node in the examples of the method, and is configured to perform the method S101-S102 in the above embodiments or perform S301-S309 or perform S401-S407. Alternatively, the device 60 corresponds to the first communication device or the first node in the examples of the method, and is configured to perform the method S201-S202 in the above embodiments or perform S301-S309 or perform S401-S407.

[0224] It should be noted that the division of each part in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division manner can be used. Each function in the embodiments of the present application can be integrated in a processor, or the transceiver and the processor can exist separately. In addition, the device 60 can include a built-in memory or can not include a memory, and can further include an external memory, and the like, and is not limited to the division of the embodiments of the present application. The integrated device can be realized in the form of hardware, for example, a chip, or in the form of a software function unit, or in the form of a combination of software and hardware.

[0225] Further, the embodiment of the present application further provides a device 70, as shown in FIG. 17, which is a structural schematic diagram of the device 70 provided by the embodiment of the present application. As shown in FIG. 17, the device 70 can include a processor 701, a memory 702 coupled with the processor 701, and a transceiver 703. The transceiver 703 can include an MR, an LR, a communication interface, an optical module, etc., and is configured to receive a packet or data information, etc. The processor 701 can include a central processing unit (CPU), a network processor (NP), or a combination of the CPU and the NP, and is configured to perform the related steps of the wake-up signal processing in the device exemplified in the above embodiment. The processor can also be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a feld-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof. The processor 701 can refer to one processor, or can include a plurality of processors. The memory 702 can include a volatile memory such as a random-access memory (RAM); the memory can also include a non-volatile memory such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); and the memory 702 can further include a combination of the above-mentioned memories. The memory 702 can refer to one memory, or can include a plurality of memories, and is configured to store program instructions. In an embodiment, the memory 702 stores computer readable instructions, and the computer readable instructions include a plurality of software modules, such as a sending module, a processing module and a receiving module. The processor 701 performs the respective software modules and can perform corresponding operations according to the instructions of the respective software modules. In the embodiment, the operation performed by one software module is actually the operation performed by the processor 701 according to the instructions of the software module.Optionally, the processor 701 can also store program codes or instructions for implementing the embodiments of the present application, in which case the processor 701 does not need to read the program codes or instructions from the memory 702.

[0226] The device 70 can be configured to perform the methods in the above embodiments. Specifically, the device 70 corresponds to an example of the second communication device or the second node in the methods, and can be configured to perform the methods S101-S102 in the above embodiments or perform S301-S309 or perform S401-S407. The device 70 corresponds to an example of the first communication device or the first node in the methods, and can be configured to perform the methods S201-S202 in the above embodiments or perform S301-S309 or perform S401-S407.

[0227] Furthermore, the embodiments of the present application also provide a communication device. The communication device includes a storage medium and a processor connected with the storage medium. The storage medium stores instructions, and the processor executes the instructions to implement part or all of the operations in any of the methods in any of the embodiments described above.

[0228] Furthermore, the embodiments of the present application also provide a communication device. The communication device includes a processor connected with a storage medium. The storage medium can be arranged in the communication device or arranged outside the communication device, and the storage medium stores instructions, and the processor executes the instructions to implement part or all of the operations in any of the methods in any of the embodiments described above.

[0229] The embodiments of the present application also provide a computer readable storage medium, which stores instructions, and the instructions, when executed on a processor, implement part or all of the operations in any of the methods in any of the embodiments described above.

[0230] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program, when executed on a processor, implements part or all of the operations in any of the methods in any of the embodiments described above.

[0231] The embodiments of the present application also provide a chip, which includes an interface circuit and a processor. The interface circuit and the processor are connected, and the processor is configured to cause the chip to perform part or all of the operations in any of the methods in any of the embodiments described above.

[0232] The embodiments of the present application also provide a chip system, which includes a processor and a memory. The memory is coupled with the processor, and is configured to store program codes or instructions, and the program codes or instructions, when executed on the processor, cause the chip system to implement part or all of the operations in any of the methods in any of the embodiments described above.

[0233] Optionally, the processor in the chip system can be one or more. The processor can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor, which is implemented by reading software code stored in a memory.

[0234] Optionally, the memory in the chip system can also be one or more. The memory can be integrated with the processor or arranged separately from the processor, which is not limited in the embodiments of the present application. For example, the memory can be a non-transient processor, such as a read-only memory (ROM), which can be integrated on the same chip as the processor or arranged on different chips, and the embodiments of the present application do not make specific limitations on the type of memory and the arrangement of the memory and the processor.

[0235] For example, the chip system can be an FPGA, an ASIC, a system on chip (SoC), a CPU, an NP, a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0236] The embodiments of the present application also provide a system, which includes one or more of the above-mentioned devices, apparatuses, computer readable storage media, computer program products, chips or chip systems. It can be applied in the scenario shown in FIG. 1, but is not limited thereto.

[0237] In a possible implementation, the system provided by the embodiments of the present application includes at least one first communication device and at least one second communication device.

[0238] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0239] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0240] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of units is only a logical business division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0241] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0242] In addition, each business unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software unit.

[0243] If the integrated unit is realized in the form of software unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, all or part of the technical solutions of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0244] Those skilled in the art should understand that, in one or more examples described above, the businesses described in the present application can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, the businesses can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes computer storage medium and communication medium, wherein the communication medium includes any medium that facilitates transfer of computer programs from one place to another. The storage medium can be any available medium accessible by a general or special purpose computer.

[0245] The above detailed description of the application serves to further explain the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above is only a specific implementation of the present application.

[0246] The above, the above examples are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of perception data transmission, the method comprising: The method comprises: receiving first sensing data sent by a first communication device; sending first indication information, the first indication information being used to instruct the first communication device to feed back second sensing data, the information quantity of the second sensing data being greater than the information quantity of the first sensing data.

2. The method of claim 1, wherein, The first sensing data comprises at least one of the following: a target quantity sensed by the first communication device, position information of a target in space, target speed, or target type.

3. The method of claim 2, wherein, The first sensing data further comprises at least one of the following: scatterer quantity, average signal-to-noise ratio, or average power.

4. The method according to any one of claims 1 to 3, characterized in that, The second sensing data comprises scatterer information sensed by the first communication device, the scatterer information comprising at least one of the following for each scatterer: scatterer identification, three-dimensional coordinates, scatterer angle, likelihood, power, speed, or credibility; or The scatterer information comprises at least one of the following corresponding to a first region of the scatterer: first region size, position range of the first region in space, or first region matrix, wherein the first region is a region obtained by dividing space.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises, before sending the first indication information: determining, according to the first sensing data and a sensing task, that the first communication device needs to feed back the second sensing data.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: sending second indication information, the second indication information being used to instruct the first node to send the first sensing data to a second node, or to send the first sensing data and content contained in the first sensing data, the content contained in the first sensing data comprising at least one of the following: target quantity sensed by the first communication device, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio, or average power.

7. The method of any one of claims 1 to 6, wherein The first indication information is further used to instruct the first node about content contained in the second sensing data, the content contained in the second sensing data comprising at least one of the following for each scatterer: scatterer identification, three-dimensional coordinates, scatterer angle, likelihood, power, speed, or credibility; or comprising at least one of the following corresponding to a first region of the scatterer: first region size, position range of the first region in space, or first region matrix.

8. A method for transmitting perception data, the method comprising: The method comprises: sending first sensing data; if first indication information is received, feeding back second sensing data according to the first indication information, the information quantity of the second sensing data being greater than the information quantity of the first sensing data.

9. The method of claim 8, wherein, The first sensing data comprises at least one of the following: target quantity sensed by the first communication device, position information of a target in space, target speed, or target type.

10. The method of claim 9, wherein, The first sensing data further comprises at least one of the following: scatterer quantity, average signal-to-noise ratio, or average power.

11. The method according to any one of claims 8 to 10, characterized in that, The second sensing data comprises scatterer information sensed by the first communication device, the scatterer information comprising at least one of the following for each scatterer: scatterer identification, three-dimensional coordinates, scatterer angle, likelihood, power, speed, or credibility; or The scatterer information includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix.

12. The method according to any one of claims 8 to 11, characterized in that, Further comprising: receiving second indication information, the second indication information being used to indicate that the first node sends the first sensing data to a second node, or sends the first sensing data and content contained in the first sensing data, the content contained in the first sensing data including at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio, or average power.

13. The method of any one of claims 8-12, wherein: the first indication information is further used to indicate, to the first node, content contained in the second sensing data, the content contained in the second sensing data including at least one of a scatterer identifier, three-dimensional coordinates, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or including at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix.

14. A second communication device, characterized by Further comprising: a receiving module configured to receive first sensing data sent by a first communication device; a sending module configured to send first indication information, the first indication information being used to indicate that the first communication device feeds back second sensing data, the information quantity of the second sensing data being greater than that of the first sensing data.

15. The apparatus of claim 14, wherein, The first sensing data includes at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, or target type.

16. The apparatus of claim 15, wherein, The first sensing data further includes at least one of a scatterer quantity, an average signal-to-noise ratio, or an average power.

17. The apparatus of any one of claims 14 to 16, wherein, The second sensing data includes information of a scatterer sensed by the first communication device, the scatterer information including at least one of a scatterer identifier, three-dimensional coordinates, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or The scatterer information includes at least one of a first region size corresponding to the scatterer, a position range of the first region in space, or a first region matrix, wherein the first region is a region obtained by dividing space.

18. The apparatus of any one of claims 14 to 17, wherein, Further comprising: a processing module configured to determine, according to the first sensing data and a sensing task, that the first communication device needs to feed back the second sensing data.

19. The apparatus of any one of claims 14-18, wherein: the sending module is further configured to send second indication information, the second indication information being used to indicate that the first node sends the first sensing data to a second node, or sends the first sensing data and content contained in the first sensing data, the content contained in the first sensing data including at least one of a target quantity sensed by the first communication device, position information of a target in space, target speed, target type, scatterer quantity, average signal-to-noise ratio, or average power.

20. The apparatus of any one of claims 14-19, wherein: The first indication information is further used to indicate the first node about content contained in the second sensing data, and the content contained in the second sensing data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first area size corresponding to the scatterer, a location range of the first area in space, or a first area matrix.

21. A first communications device, characterized by: Comprising: a sending module, configured to send first sensing data; The sending module is further configured to, if the first indication information is received, feed back second sensing data according to the first indication information, and an information amount of the second sensing data is greater than an information amount of the first sensing data.

22. The apparatus of claim 21, wherein, The first sensing data includes at least one of a target quantity, a location information of a target in space, a target speed, or a target type sensed by the first communication device.

23. The apparatus of claim 22, wherein, The first sensing data further includes at least one of a scatterer quantity, an average signal-to-noise ratio, or an average power.

24. The apparatus of any one of claims 21 to 23, wherein, The second sensing data includes scatterer information sensed by the first communication device, and the scatterer information includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first area size corresponding to the scatterer, a location range of the first area in space, or a first area matrix. The scatterer information includes at least one of a first area size corresponding to the scatterer, a location range of the first area in space, or a first area matrix.

25. The apparatus of any one of claims 21 to 24, wherein The receiving module is further configured to receive second indication information, and the second indication information is used to indicate the first node to send the first sensing data to the second node, or to send the first sensing data and content contained in the first sensing data, and the content contained in the first sensing data includes at least one of a target quantity, a location information of a target in space, a target speed, a target type, a scatterer quantity, an average signal-to-noise ratio, or an average power sensed by the first communication device.

26. The apparatus of any one of claims 21 to 25, wherein, The first indication information is further used to indicate the first node about content contained in the second sensing data, and the content contained in the second sensing data includes at least one of a scatterer identifier, a three-dimensional coordinate, a scatterer angle, a likelihood, a power, a speed, or a credibility of each scatterer, or at least one of a first area size corresponding to the scatterer, a location range of the first area in space, or a first area matrix.

27. A communications device, characterized by The communication device includes a module for performing the method of any one of claims 1 to 7, or a module for performing the method of any one of claims 8 to 13.

28. A communications device, characterized by The communication device includes a processor configured to perform the method of any one of claims 1 to 7, or configured to perform the method of any one of claims 8 to 13.

29. A communications device, characterized by Comprising: an input / output interface and a logic circuit, the input / output interface is used to realize at least one of obtaining input information or output information, and the logic circuit is used to perform the method of any one of claims 1 to 7, or perform the method of any one of claims 8 to 13.

30. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises instructions which, when executed, cause the method of any one of claims 1 to 7 to be implemented, or cause the method of any one of claims 8 to 13 to be implemented.

31. A computer program product, characterised in that, The computer program product comprises instructions which, when executed, cause the method of any one of claims 1 to 7 to be implemented, or cause the method of any one of claims 8 to 13 to be implemented.

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