Sensing method and communication apparatus

Abstract

A sensing method and a communication apparatus, relating to the technical field of communications. The method comprises: receiving first sensing accuracy, the first sensing accuracy indicating the deviation between a measurement position of a first scattering point and a first position, the first position being determined on the basis of a first scattering point set, the first scattering point set comprising at least one scattering point of a first scatterer, and the at least one scattering point including the first scattering point; and performing sensing on the basis of the first sensing accuracy.

Description

Sensing method and communication apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410628794.X, filed on May 20, 2024, and entitled "Sensing method and communication apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] In a communication system, a communication apparatus performs sensing by using a wireless sensing technology, thereby obtaining sensing data. The sensing data indicates a measurement position of a scattering point, so that the communication apparatus knows the distribution of scattering bodies in an environment.

[0004] However, in the above sensing process, there may be a case that the sensing data of part of the scattering points is inaccurate, which affects the overall sensing performance. SUMMARY

[0005] To solve the above technical problems, the present application provides a sensing method and a communication apparatus, which can improve the sensing performance.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a sensing method is provided, which can be executed by a first communication apparatus. In the absence of special description, the "first communication apparatus" in the present application can refer to a network device or a terminal device, or a component (for example, a processor, a chip, or a chip system, etc.) in the network device or the terminal device, or a logic module or software capable of realizing all or part of the functions of the first communication apparatus. Hereinafter, the execution subject is taken as an example for description. The method comprises:

[0008] receiving a first sensing accuracy, the first sensing accuracy indicating a deviation between a measurement position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set comprising at least one scattering point of a first scattering body, the at least one scattering point comprising the first scattering point; and performing sensing according to the first sensing accuracy.

[0009] The first position is determined according to the first scattering point set, which can be understood as that the first position is determined according to all scattering points of the first scattering point set. The first position can represent the real position of the first scattering body.

[0010] The first scattering point is characterized by the first perception accuracy. After the first communication device receives the first perception accuracy, the first scattering point can be characterized by the first perception accuracy, and the first scattering point can be perceived based on the first perception accuracy to accurately perceive the distribution of the first scattering body in the environment, thereby improving the perception performance.

[0011] For example, if the deviation indicated by the first perception accuracy is large, such as greater than or equal to a threshold, it means that the measurement position of the first scattering point is inaccurate, and the perception of the first scattering point is failed. In this case, the first scattering point can be excluded, thereby reducing the influence of a single scattering point with failed perception on the perception result of the first scattering body, and helping to improve the perception performance.

[0012] On the contrary, if the deviation indicated by the first perception accuracy is small, such as less than or equal to a threshold, it means that the measurement position of the first scattering point is accurate, and the perception of the first scattering point is successful. In this case, the first scattering point can be retained, and the perception processing, such as fusion processing, can be performed on the first scattering point, thereby more accurately determining the distribution of the first scattering body in the environment and improving the perception performance.

[0013] In a possible design, the method further includes receiving an index of the first scattering point set, so that the first communication device knows the scattering point set to which the first scattering point belongs.

[0014] In a possible design, the method further includes receiving a type of the first scattering point set. The type of the first scattering point set is used to represent at least one of the following: a presence duration of the first scattering body in the perception area, or a moving speed of the first scattering body.

[0015] For example, if the presence duration of the first scattering body in the perception area is less than or equal to a threshold 1, the first scattering body can be understood as a temporary scattering body, such as a temporary target, in the perception area.

[0016] For another example, if the presence duration of the first scattering body in the perception area is greater than or equal to a threshold 2, the first scattering body can be understood as a long-time existing scattering body, such as an anchor target, in the perception area.

[0017] For another example, if the moving speed of the first scattering body is less than or equal to a threshold 3, the first scattering body can be understood as a stationary scattering body, such as a stationary target, in the perception area.

[0018] For another example, the moving speed of the first scatterer is greater than or equal to a threshold 4, which can be understood as that the first scatterer is a moving scatterer in the sensing area, such as a moving target.

[0019] That is, based on the type of the first scatter point set, the existence duration of the first scatterer in the sensing area and / or the moving speed of the first scatterer can be determined, and then the sensing process management is performed based on the state of the first scatterer, so as to improve the sensing performance.

[0020] In a possible design, the method further includes: receiving the type of the first sensing accuracy. The type of the first sensing accuracy is used to represent a determination manner of the first sensing accuracy, so that the first communication apparatus knows the determination manner of the first sensing accuracy.

[0021] In a second aspect, a communication method is provided, which can be performed by a second communication apparatus. In the case of no special description, the "second communication apparatus" in the present application can refer to a network device or a terminal device, or a component (for example, a processor, a chip, or a chip system) in the network device or the terminal device, or a logic module or software capable of realizing all or part of the functions of the second communication apparatus. Hereinafter, the execution subject is taken as an example for description. The method includes:

[0022] determining a first sensing accuracy, the first sensing accuracy indicating a deviation between a measured position of a first scatter point and a first position, the first position being determined according to a first scatter point set, the first scatter point set including at least one scatter point of a first scatterer, the at least one scatter point including the first scatter point, and sending the first sensing accuracy.

[0023] In a possible design, the method further includes: sending an index of the first scatter point set.

[0024] In a possible design, the method further includes: sending a type of the first scatter point set. The type of the first scatter point set is used to represent at least one of the following: an existence duration of the first scatterer in a sensing area, or a moving speed of the first scatterer.

[0025] In a possible design, the method further includes: sending a type of the first sensing accuracy. The type of the first sensing accuracy is used to represent a determination manner of the first sensing accuracy.

[0026] In a possible design, the type of the first scatter point set is a first type, and the first type is associated with at least one sensing accuracy determination manner, and the at least one sensing accuracy determination manner includes the determination manner of the first sensing accuracy.

[0027] Since the first type is associated with the at least one perception accuracy determination manner, the perception accuracy obtained by the associated perception accuracy determination manner can better reflect the perception accuracy evaluation result of each scattering point, thereby helping to improve the perception performance.

[0028] In a possible design, the method further includes: obtaining a type of a second scattering point set and a perception result of the second scattering point set, the second scattering point set including at least one scattering point of a second scatterer, the perception result of the second scattering point set indicating that the number of scattering points of the second scattering point set increases and the duration is greater than a first threshold. According to the perception result of the second scattering point set, the type of the second scattering point set is updated. A first parameter is sent, the first parameter indicating the updated type.

[0029] For example, before the updating process, the type of the second scattering point set is used to represent that the duration of the presence of the second scatterer in the perception area is less than or equal to a threshold 1. It can be understood that the second scatterer is a temporary scatterer in the perception area, such as a temporary target. After the updating process, the type of the second scattering point set is used to represent that the duration of the presence of the second scatterer in the perception area is greater than or equal to a threshold 2. It can be understood that the second scatterer is a long-time existing scatterer in the perception area, such as an anchor target.

[0030] That is, for a long-time existing scatterer in the perception area, such as the second scatterer, the scattering points on the second scatterer can be perceived every time the perception process is performed. Accordingly, the number of scattering points of the second scattering point set increases and the duration is relatively long, such as the duration being greater than the first threshold. Based on this, the second communication apparatus can update the type of the second scattering point set according to the perception result of the second scattering point set, so as to more accurately present the state of the second scatterer in the perception area.

[0031] In a possible design, the method further includes: obtaining a perception result of a third scattering point set, the third scattering point set including at least one scattering point of a third scatterer, the perception result of the third scattering point set indicating that the number of scattering points of the third scattering point set does not increase and the duration is greater than a second threshold, and deleting the third scattering point set according to the perception result of the third scattering point set.

[0032] For example, before the deleting process, the type of the third scatter point set is used to represent that the third scatterer has existed in the perception area for a time duration less than or equal to a threshold 1, which can be understood as that the third scatterer is a temporary appearing scatterer in the perception area, such as a temporary target. Alternatively, the type of the third scatter point set is used to represent that the third scatterer has existed in the perception area for a time duration greater than or equal to a threshold 2, which can be understood as that the third scatterer is a long time existing scatterer in the perception area, such as an anchor target.

[0033] That is to say, for the disappeared scatterer in the perception area, such as the third scatterer, the scatter point on the third scatterer cannot be perceived by performing the perception process once. Accordingly, the number of scatter points in the third scatter point set does not increase, and the duration is long, such as greater than the second threshold. Based on this, the second communication device can delete the third scatter point set according to the perception result of the third scatter point set, so as to more accurately and timely present the state of the third scatterer in the perception area.

[0034] The technical effects brought by any of the design manners in the second aspect can be referred to the technical effects brought by different design manners in the first aspect, which will not be repeated here.

[0035] In a third aspect, a communication device is provided, which is used to implement various methods. The communication device can be the first communication device in the first aspect, or the communication device can be the second communication device in the second aspect.

[0036] The communication device includes modules, units or means corresponding to the method, which can be implemented by hardware, software or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the functions.

[0037] In some possible designs, the communication device can include a processing module and a transceiver module. The processing module can be used to implement the processing functions in any of the aspects and any possible implementation manners thereof. The transceiver module can include a receiving module and a sending module, which are used to implement the receiving function and the sending function in any of the aspects and any possible implementation manners thereof.

[0038] In some possible designs, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0039] In a fourth aspect, a communication apparatus is provided, which comprises a processor and a memory coupled to the processor, and the memory stores program instructions which, when executed by the processor, cause the communication apparatus to perform the method in any one of the above aspects or any possible design of any one of the above aspects. The communication apparatus can be the first communication apparatus in the first aspect. Alternatively, the communication apparatus can be the second communication apparatus in the second aspect.

[0040] In a fifth aspect, a communication apparatus is provided, which comprises a processor, and the processor is configured to execute computer program or instructions to cause the communication apparatus to perform the method in any one of the above aspects. The communication apparatus can be the first communication apparatus in the first aspect. Alternatively, the communication apparatus can be the second communication apparatus in the second aspect.

[0041] Optionally, the communication apparatus further comprises a memory, which can be coupled to the processor, or the memory can exist independently of the processor, for example, the memory and the processor are two independent modules. The memory can be located outside the communication apparatus, or can be located inside the communication apparatus.

[0042] In a sixth aspect, a communication apparatus is provided, which comprises a processor and a communication interface, and the communication interface is configured to communicate with a module outside the communication apparatus, and the processor is configured to execute computer program or instructions to cause the communication apparatus to perform the method in any one of the above aspects. The communication apparatus can be the first communication apparatus in the first aspect. Alternatively, the communication apparatus can be the second communication apparatus in the second aspect.

[0043] In a seventh aspect, a communication apparatus is provided, which comprises a processing circuit or logic circuit, and an interface circuit, and the interface circuit is configured to communicate with a module outside the communication apparatus, and the processing circuit or logic circuit is configured to execute computer program or instructions to cause the communication apparatus to perform the method in any one of the above aspects. The communication apparatus can be the first communication apparatus in the first aspect. Alternatively, the communication apparatus can be the second communication apparatus in the second aspect.

[0044] In an eighth aspect, a computer readable storage medium is provided, which stores computer program or instructions, and when the computer program or instructions are executed on a communication apparatus, the communication apparatus can perform the method in the first aspect and any possible design thereof, or the communication apparatus can perform the method in the second aspect and any possible design thereof.

[0045] In a ninth aspect, a computer program product containing instructions, which, when run on a communication device, enable the communication device to perform the method according to the first aspect and any possible implementation thereof, or enable the communication device to perform the method according to the second aspect and any possible implementation thereof.

[0046] In a tenth aspect, a communication device (for example, the communication device can be a chip or a chip system) is provided, which comprises a processor configured to implement the functions involved in the first aspect and any possible implementation thereof, or configured to implement the functions involved in the second aspect and any possible implementation thereof.

[0047] In some possible implementations, the communication device comprises a memory configured to store necessary program instructions and data.

[0048] In some possible implementations, when the communication device is a chip system, the communication device can be composed of a chip or can comprise a chip and other discrete devices.

[0049] In an eleventh aspect, a communication system is provided, which comprises a first communication device configured to perform the method according to the first aspect or any possible implementation thereof, and a second communication device configured to perform the method according to the second aspect or any possible implementation thereof.

[0050] It can be understood that, when the communication device according to any one of the third aspect to the eleventh aspect is a chip, the transmitting action / function of the communication device can be understood as outputting information, and the receiving action / function of the communication device can be understood as inputting information.

[0051] It can be understood that the technical effects brought by any one of the third aspect to the eleventh aspect can refer to the technical effects brought by different design manners of the first aspect to the second aspect, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0052] FIG. 1a is a schematic diagram of an architecture of a communication system according to an embodiment of the present application;

[0053] FIG. 1b is a schematic diagram of another architecture of a communication system according to an embodiment of the present application;

[0054] FIG. 2 is a schematic diagram of a perception fusion according to an embodiment of the present application;

[0055] FIG. 3 is a schematic diagram of a perception method according to an embodiment of the present application;

[0056] FIG. 4 is a schematic diagram of a clustering process according to an embodiment of the present application;

[0057] FIG. 5 is a flow diagram of another sensing method according to an embodiment of the present application;

[0058] FIG. 6 is a flow diagram of another sensing method according to an embodiment of the present application;

[0059] FIG. 7 is a flow diagram of another sensing method according to an embodiment of the present application;

[0060] FIG. 8 is a flow diagram of another sensing method according to an embodiment of the present application;

[0061] FIG. 9a is a flow diagram of a target upgrade according to an embodiment of the present application;

[0062] FIG. 9b is a flow diagram of a target deregistration according to an embodiment of the present application;

[0063] FIG. 10 is a structural diagram of a communication apparatus according to an embodiment of the present application;

[0064] FIG. 11 is a structural diagram of another communication apparatus according to an embodiment of the present application;

[0065] FIG. 12 is a structural diagram of another communication apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0067] In the description of the present application, "and / or" in the present application is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone.

[0068] In the description of the present application, "multiple" means two or more, unless otherwise specified. "At least one of the following" or the like means any combination of the items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c.

[0069] In the description of the present application, "first", "second", and the like are used to distinguish the same items or similar items with basically the same function and effect. The "first", "second", and the like do not limit the quantity and execution order, and the "first", "second", and the like do not necessarily mean different.

[0070] In the description of the present application, the word "exemplarily" or "for example" is used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the word "exemplarily" or "for example" is intended to present the relevant concept in a specific manner, for the convenience of understanding.

[0071] The network architecture and service scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0072] FIG. 1a is a schematic diagram of an architecture of a communication system 1000 to which the embodiments of the present application are applied. As shown in FIG. 1a, the communication system 1000 includes at least one network device (such as 110a and 110b in FIG. 1a) and at least one terminal device (such as 120a-120j in FIG. 1a). Wherein, the terminal device can communicate with the network device in a wireless manner. Optionally, different network devices can communicate with each other. Optionally, different terminal devices can communicate with each other.

[0073] It should be noted that FIG. 1a is only a schematic diagram, although not shown, the communication system 1000 can also include other network devices, such as the communication system 1000 can also include one or more of core network (CN) devices, wireless relay devices and wireless backhaul devices, which are not limited here.

[0074] Wherein, the network device can be connected with the core network device in a wireless or wired manner. The core network device and the network device can be independent and different physical devices, can be integrated with the functions of the core network device and the logical functions of the network device on the same physical device, or can be a physical device integrated with part of the functions of the core network device and part of the functions of the network device, and the embodiments of the present application do not make a specific limitation.

[0075] Optionally, the network device is a network side device with wireless transceiving function.

[0076] Optionally, the network device can include a sensing management function entity, which has a sensing function, such as sensing by using sensing technology to obtain sensing data. Exemplarily, the sensing management function entity can be a Sensing Management Function (SMF) entity.

[0077] Optionally, the network device can comprise a location management function entity having a location management function and can be configured to localize scatterers in the environment. Exemplarily, the location management function entity can be a Localization Management Function, LMF, entity. In the perception scenario, localization and perception can be used interchangeably and have the same meaning.

[0078] Optionally, the network device can comprise a road side unit. Exemplarily, the road side unit can be a Road Side Unit, RSU.

[0079] Optionally, the network device can include an apparatus providing wireless communication functions for the 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), such as a 4G, 5G, or future-oriented 6G network. The RAN can also be an 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 NodeB (gNB) in a 5th generation (5G) mobile communication system, a next generation NodeB 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, such as a central unit (CU) or 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 or all of the functions of the physical layer. For specific descriptions of the above protocol layers, please refer to the relevant technical specifications of the 3GPP. The CU and the DU can be separately arranged or included in the same network element, such as 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 (such as 110a in FIG. 1a), or a micro base station or an indoor station (such as 110b in FIG. 1a), or a relay node or a donor node, etc. The embodiments of this application do not limit the specific technology and specific device form adopted by the radio access network device. For ease of description, the network device is referred to as the radio access network device, and the base station is an example of the radio access network device.

[0080] Optionally, the terminal device accesses the core network through the network device. The terminal device includes a device providing voice and / or data connectivity for a user, specifically, a device providing voice for a user, or a device providing data connectivity for a user, or a device providing voice and data connectivity for a user. For example, it can include a handheld device having wireless connection capability, or a processing device connected to a wireless modem. The terminal device can communicate with the core network via the radio access network, exchange voice or data with the RAN, or interact voice and data with the RAN. The terminal device can include a user equipment (UE), a wireless terminal device, a mobile terminal device, a D2D terminal device, a V2X terminal device, a machine-to-machine / machine-type communications (M2M / MTC) terminal device, an internet of things (IoT) terminal device, a subscriber unit, a subscriber station, a mobile station, a remote station, an access point (AP), a remote terminal, an access terminal, a user terminal, a user agent, or a user device, etc. For example, it can include a mobile phone (or called "cellular" phone), a computer with a mobile terminal device, a portable, pocket, handheld, built-in computer, etc. For example, it can include a personal communication service (PCS) phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), etc. It also includes a limited device, such as a device with lower power consumption, or a device with limited storage capacity, or a device with limited computing capacity, etc. For example, it can include a bar code, a radio frequency identification (RFID), a sensor, a global positioning system (GPS), a laser scanner, etc. information sensing device.

[0081] The various terminal devices as described above can be considered as vehicle-mounted terminal devices if they are located on a vehicle (e.g., placed in or installed in a vehicle), which are also referred to as on-board units (OBU).

[0082] In embodiments of the present application, the terminal device can also include a relay. Alternatively, it can be understood that all devices capable of data communication with the base station can be regarded as terminal devices.

[0083] In embodiments of the present application, the device for implementing the function of the terminal device can be a terminal device, or a device capable of supporting the terminal device to implement the function, such as a chip system, which can be installed in the terminal device. In embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. In the technical solutions provided in embodiments of the present application, the device for implementing the function of the terminal device is taken as an example of the terminal device for introduction.

[0084] It should be understood that the network device and the terminal device can be fixed in position or mobile. The network device and the terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can be deployed on the water surface; and can also be deployed on aircraft, balloons and artificial satellites in the air. Embodiments of the present application do not limit the application scenarios of the network device and the terminal device.

[0085] The roles of the network device and the terminal device can be relative. For example, the helicopter or the drone 120i in FIG. 1a can be configured as a mobile base station. For the terminal device 120j that accesses the wireless access network through 120i, the terminal device 120i is a network device; but for the network device 110a, 120i is a terminal device, that is, 110a and 120i communicate with each other through a wireless air interface protocol. Of course, 110a and 120i can also communicate with each other through an interface protocol between base stations and base stations, in which case 120i is also a network device relative to 110a. Therefore, the network device and the terminal device can be collectively referred to as a communication device. 110a and 110b in FIG. 1a can be referred to as a communication device with a network device function, and 120a-120j in FIG. 1a can be referred to as a communication device with a terminal device function.

[0086] It should be pointed out that the solutions in embodiments of the present application can also be applied to other communication systems, and the names can also be replaced by the corresponding function names in other communication systems.

[0087] Fig. 1b is a schematic diagram of another communication system to which embodiments of the present application can be applied. As shown in Fig. 1b, the communication system includes a perception center and perception nodes. The perception center can communicate with the perception nodes through wired or wireless means. Optionally, different perception centers can communicate with each other. Optionally, different perception nodes can communicate with each other.

[0088] The perception center mainly provides communication functions and perception functions, and is responsible for centralized storage, management, distribution, calculation, etc. of perception data. The perception center can be a network device in Fig. 1a, which can be referred to the introduction of Fig. 1a and will not be described here.

[0089] The perception node mainly uses perception technology to obtain perception data, and can be responsible for calculation and processing of the perception data. The perception node can be a network device or a terminal device. The terminal device can be referred to the introduction of Fig. 1a and will not be described here.

[0090] It should be noted that in the present application, the perception center and the perception node both have a perception module and have a perception function. Alternatively, the perception center and the perception node have completed communication and perception integration. The communication and perception integration can be understood as configuring a perception module and / or configuring a perception algorithm. For example, the perception node that has completed communication and perception integration can be understood as having configured a perception module and / or having configured a perception algorithm.

[0091] It should be noted that in the present application, the levels are introduced as follows:

[0092] First, the level of the perception center is higher than the level of the perception node. For example, in the case that some perception node(s) provide perception data to the perception center, it can be understood that the perception center is the upper level node of the perception node, or the perception node is the lower level node of the perception center.

[0093] Second, in the case of communication between different perception nodes, taking the communication between perception node 1 and perception node 2 as an example:

[0094] If the perception node 1 is a terminal device and the perception node 2 is a network device, it can be understood that the perception node 2 is the upper level node of the perception node 1, or the perception node 1 is the lower level node of the perception node 2.

[0095] If the perception node 1 and the perception node 2 are network devices (or SMFs), and the perception node 1 provides perception data to the perception node 2, it can be understood that the perception node 2 is the upper level node of the perception node 1, or the perception node 1 is the lower level node of the perception node 2.

[0096] For the convenience of description, the communication device is taken as an example to introduce the perception node and the perception center.

[0097] In order to facilitate the understanding of the embodiments of the present application, the following will first briefly describe the terms involved in the embodiments of the present application. It should be understood that these descriptions are only for the convenience of understanding the embodiments of the present application, and should not constitute any limitation on the present application.

[0098] Perception technology

[0099] The perception technology refers to that the communication device (such as a perception node) utilizes a signal for perception, thereby obtaining perception data.

[0100] The signal can be understood as a signal for measuring the position of a scatterer in an environment. The signal can be a communication signal, such as an orthogonal frequency division multiplexing (OFDM) symbol. The signal can also be described as a perception signal, a measurement signal, a sensing signal, a communication signal, a wireless signal, a radio signal, a radio frequency signal, a radio radio frequency signal, etc. In the present application, the signal is taken as an example for introduction.

[0101] The perception data indicates the measured position of the scattering point. For example, the perception data includes the three-dimensional coordinates (x, y, z) of the scattering point, so that the communication device knows the distribution of the scatterers in the environment.

[0102] It should be pointed out that in the present application, the scattering point can be understood as a position where the signal is reflected. For example, the three-dimensional coordinates (x, y, z) of a scattering point means that the signal is reflected at the position corresponding to the three-dimensional coordinates (x, y, z).

[0103] It should be pointed out that in the present application, the scatterer is introduced as follows:

[0104] On the one hand, the scatterer can be understood as a collection of scattering points. That is, a scatterer can include one or more scattering points. Usually, different scattering points belonging to the same scatterer can be classified into the same scatterer set through clustering operation.

[0105] On the other hand, the scatterer can be understood as a target or a part of a target in an environment. The target can also be replaced by a to-be-detected object or a to-be-observed object, etc. The target is taken as an example for introduction in the present application. For example, the target can be a vehicle, a pedestrian, a street lamp, a signboard, a building, etc. on the street. Correspondingly, the scatterer can be the above target, or a part of the above target that reflects the signal. Taking a building as an example, the part that reflects the signal is the wall surface, and the scatterer can be understood as the wall surface of the building.

[0106] However, in the above perception process, there may be a case that the perception data of part of the scattering points is inaccurate, affecting the overall poor perception performance.

[0107] Therefore, the present application provides a perception method. The method can be applied to the system shown in FIG. 1a or FIG. 1b. The method comprises:

[0108] The first communication device receives a first perception accuracy, the first perception accuracy indicating a deviation between a measured position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set comprising at least one scattering point of a first scatterer, the at least one scattering point comprising the first scattering point. The first communication device performs perception according to the first perception accuracy.

[0109] The first position is determined according to the first scattering point set, which can be understood as that the first position is determined according to all scattering points of the first scattering point set. The first position can represent the real position of the first scatterer.

[0110] For a scattering point, such as the first scattering point, the first perception accuracy indicates the deviation between the measured position of the first scattering point and the first position, so as to represent the perception accuracy evaluation result of the first scattering point. After the first communication device receives the first perception accuracy, the perception accuracy evaluation result of the first scattering point can be known based on the first perception accuracy, and then the first scattering point is executed for perception processing based on the first perception accuracy, so as to accurately perceive the distribution of the first scatterer in the environment, thereby improving the perception performance.

[0111] For example, if the deviation indicated by the first perception accuracy is large, such as greater than or equal to a certain threshold, it means that the measured position accuracy of the first scattering point is poor, and the perception of the first scattering point is failed. In this case, the first scattering point can be excluded, thereby reducing the influence of the single perception failed scattering point on the perception result of the first scatterer, and helping to improve the perception performance.

[0112] On the contrary, if the deviation indicated by the first perception accuracy is small, such as less than or equal to a certain threshold, it means that the measured position accuracy of the first scattering point is high, and the perception of the first scattering point is successful. In this case, the first scattering point can be retained, and the perception processing, such as fusion processing, is executed on the first scattering point, so as to more accurately determine the distribution of the first scatterer in the environment, and realize the improvement of the perception performance.

[0113] For the technical solutions without providing perception accuracy, there may be a case that the perception data of part of the scattering points is inaccurate, affecting the overall poor perception performance, which is specifically analyzed as follows:

[0114] The perception accuracy is used to indicate the deviation between the measured position of the scattering point and the real position. It can be understood that the perception accuracy is the accuracy evaluation information of the perception data. If the perception accuracy is not provided, it means that the accuracy evaluation information of the perception data is missing, so that the accuracy of the perception data cannot be determined, and the perception performance is affected. For example, for the first scattering point, the perception data corresponding to the first scattering point is recorded as the first perception data. The first perception data indicates the measured position of the first scattering point. In some embodiments, the deviation between the measured position of the first scattering point and the real position is small, which means that the measured position of the first scattering point is relatively accurate, the perception of the first scattering point is successful, the perception result of the first scattering point helps to improve the overall perception performance, and the perception processing (such as fusion processing) can be performed on the first scattering point. On the contrary, the deviation between the measured position of the first scattering point and the real position is large, which means that the measured position of the first scattering point is not accurate, and the perception of the first scattering point fails. In other words, the first scattering point is a bad point and needs to be removed. If the perception processing (such as fusion processing) is still performed on the first scattering point, the perception result of the first scattering body is easily affected by a single perception failure of the scattering point, and the overall perception performance is reduced.

[0115] It should be noted that in this application, the perception accuracy is introduced as follows:

[0116] On the one hand, in a narrow sense, the perception accuracy indicates the deviation between the measured position of a scattering point and the real position. It can be understood that the perception accuracy is introduced by taking the spatial position as an example. For example, the first perception accuracy indicates the deviation between the measured position of the first scattering point and the first position. The first position is determined based on the first scattering point set and can represent the real position.

[0117] On the other hand, in a broad sense, the perception accuracy indicates the deviation between the measured index of a scattering point and the real index. It can be understood that the perception accuracy is introduced by taking the time delay as an example. For example, the first perception accuracy indicates the deviation between the measured time delay of the first scattering point and the first time delay. The first time delay is determined based on the first scattering point set and can represent the real time delay. For example, the perception accuracy is introduced by taking the speed as an example. For example, the first perception accuracy indicates the deviation between the measured speed of the first scattering point and the first speed. The first speed is determined based on the first scattering point set and can represent the real speed.

[0118] Next, the perception accuracy is further introduced in combination with the perception fusion technology:

[0119] The perception fusion technology is that a communication device (e.g., a perception node) can obtain scattering points determined by other communication devices (e.g., perception nodes), and fuse the scattering points determined by the other communication devices (e.g., perception nodes) to obtain the distribution of scattering bodies in a larger space range, so as to expand the perception range or improve the perception accuracy.

[0120] The scattering points determined by the other communication devices (e.g., perception nodes) can be indicated by perception data. For example, the perception data can include one or more of Table 1.

[0121] Table 1

[0122] In Table 1, the station information refers to the information of the communication device (e.g., the perception node) that determines N scattering points through different perception modes, such as self-transmission and self-reception, self-transmission and other-reception, etc. The perception link identifier refers to the identifier of the link where the line of sight (LOS) is located. The transmitter identifier refers to the identifier of the communication device that transmits the signal. For example, the transmitter identifier is the transmitter number. The receiver identifier refers to the identifier of the communication device that receives the signal. For example, the receiver identifier is the receiver number. The time refers to the time stamp corresponding to the signal, such as the time stamp of generating, transmitting or receiving the signal. The direction refers to the transmission direction of the link where the signal is located. The configuration refers to the configuration corresponding to the perception link, such as the bandwidth configuration, etc.

[0123] In Table 1, taking the scattering point 1 as an example, the scattering point identifier refers to the unique identifier of the scattering point 1. The three-dimensional coordinates refer to the three-dimensional coordinates of the scattering point 1 in the environment. The angle can refer to the angle of departure (AoD). The likelihood is used to represent the weight corresponding to the scattering point 1 in the perception fusion process. The power refers to the power of the signal. The speed refers to the moving speed of the scattering point 1.

[0124] In Table 1, N is a positive integer greater than or equal to 1.

[0125] The perception data can include one or more of Table 1, and can be understood as:

[0126] Taking the information of each of the scattering points 1-scattering point N as an example, for each scattering point, such as scattering point 1, the perception data can include one or more of the following: an identity of the scattering point 1, a three-dimensional coordinate of the scattering point 1, an angle corresponding to the scattering point 1, a likelihood corresponding to the scattering point 1, a power corresponding to the scattering point 1, a speed of the scattering point 1, and the like. For scattering point 2, the perception data can include one or more of the following: an identity of the scattering point 2, a three-dimensional coordinate of the scattering point 2, an angle corresponding to the scattering point 2, a likelihood corresponding to the scattering point 2, a power corresponding to the scattering point 2, a speed of the scattering point 2, and the like.

[0127] Optionally, the perception data can further include one or more of the following: station information, perception link identity, sender identity, receiver identity, time, direction, configuration / capability, and the like.

[0128] Taking FIG. 2 as an example, the first communication device fuses and processes the perception data provided by different communication devices. For example, the first communication device fuses and processes the perception data provided by the second communication device, the third communication device, and the fourth communication device. In FIG. 2, the circles represent scattering points. The blank circles represent scattering points indicated by the perception data provided by the second communication device. The oblique line filled circles represent scattering points indicated by the perception data provided by the third communication device. The vertical line filled circles represent scattering points indicated by the perception data provided by the fourth communication device.

[0129] It should be noted that, in the present application, the so-called fusion processing can be understood as: fusing different perception data into more complete perception data.

[0130] For example, taking a single scattering point as an example, the scattering point is denoted as scattering point 1. Before the fusion processing, different perception data can include: perception data provided by the second communication device, such as a position of the scattering point 1 and a moving speed of the scattering point 1; perception data provided by the third communication device, such as a position of the scattering point 1 and a likelihood corresponding to the scattering point 1. After the fusion processing, more complete information about the scattering point 1 can include: a position of the scattering point 1, a moving speed of the scattering point 1, and a likelihood corresponding to the scattering point 1.

[0131] It can be understood that: the information about the same scattering point in different perception data is summarized.

[0132] For example, taking scattering point 2 and scattering point 3 as an example, before the fusion processing, different perception data can include: perception data provided by the second communication device, such as the position of scattering point 2, the moving speed of scattering point 2, and the like; perception data provided by the third communication device, which does not contain information of scattering point 2 but contains information of scattering point 3, such as the position of scattering point 3, the likelihood corresponding to scattering point 3, and the like. After the fusion processing, more complete information about the scattering point can include: the position of scattering point 2, the moving speed of scattering point 2, the position of scattering point 3, the likelihood corresponding to scattering point 3, and the like.

[0133] It can be understood that the information about different scattering points in different perception data is retained.

[0134] In addition, in the present application, the fusion processing can also be described in other ways, such as scattering point fusion processing, perception fusion, perception fusion processing, and the like. In the present application, the fusion processing is taken as an example for introduction.

[0135] It should be noted that in the perception fusion technology, if the deviation between the measured position of the first scattering point and the real position is large, it means that the measured position of the first scattering point is not accurate, and the perception result of the first scattering point fails. In this case, if the fusion processing is still performed on the first scattering point, it is easy to cause the perception result to be not accurate, and affect the overall perception performance. In the present application, the first position can represent the real position of the first scattering body, and the first perception accuracy can indicate the deviation between the measured position of the first scattering body and the first position, thereby representing the accuracy of the measured position of the first scattering body, so that the first communication device can perform correct perception processing based on the first perception accuracy, thereby improving the overall perception performance.

[0136] Next, the perception method proposed in the embodiments of the present application is described in detail.

[0137] First, as shown in FIG. 3, the parameters involved in the present application and the parameter determination process are introduced:

[0138] S301, the second communication device determines at least one scattering point set.

[0139] The second communication device can be a network device or a terminal device, which can be referred to the introduction of FIG. 1a or FIG. 1b. Hereinafter, the second communication device is taken as a network device for example, and the introduction is carried out.

[0140] Each scattering point set in the at least one scattering point set includes at least one scattering point of a scattering body. The scattering body can be understood as a target in the environment. Taking FIG. 4 as an example, the circles in an oval frame can be understood as scattering points included in a scattering point set.

[0141] Exemplarily, the second communication apparatus classifies the plurality of scattering points into a plurality of scattering point sets. The scattering points classified into one set are referred to as one scattering point set. After the classification, at least one scattering point set can be obtained. The at least one scattering point set includes a first scattering point set. Details are described below with reference to FIG. 5.

[0142] Exemplarily, the algorithm of the classification process can include at least one of the following: a first item, a clustering algorithm based on spatial position, such as a K-means clustering algorithm, a density-based clustering algorithm with noise, etc.; a second item, a clustering algorithm based on channel characteristics such as angle, time delay, signal to noise ratio (SNR), etc.; and a third item, a hybrid clustering algorithm, such as a Double-belief algorithm, etc. Of course, the algorithm of the classification process can also be other classification methods, which are not limited. The density-based clustering algorithm with noise can be referred to as Density-Based Spatial Clustering of Applications with Noise, i.e., DBSCAN algorithm.

[0143] It should be noted that one scattering point set can also be referred to as other names, such as one scattering point set, one scattering point cluster, or one scattering point group, etc. In this application, the scattering point set is taken as an example for description.

[0144] It should be noted that different scattering points in one scattering point set can be scattering points perceived by the same communication apparatus, or can be scattering points perceived by different communication apparatuses. Different scattering points can be scattering points perceived in a historical perception process, or can be scattering points perceived in a current perception process.

[0145] For the second communication apparatus, after the second communication apparatus determines the at least one scattering point set, the second communication apparatus performs S302 and S303:

[0146] S302, the second communication apparatus configures an index for the scattering point set.

[0147] Exemplarily, for the at least one scattering point set, the index of each scattering point set can be a number, a letter, or other identification, which is used to uniquely identify one scattering point set.

[0148] Exemplarily, the index of the scattering point set can be referred to as Target ID.

[0149] S303, the second communication apparatus determines the type of the scattering point set.

[0150] Exemplarily, the type of the scattering point set can be referred to as Targe_Type.

[0151] For example, according to the duration of the existence of the scattering points, the types of the scattering point set can include: Type A and Type B.

[0152] Type A is used to represent that the duration of the existence of the scattering body corresponding to the scattering point set in the perception area is less than or equal to threshold 1. In other words, Type A is used to represent that the scattering body corresponding to the scattering point set is a temporary target in the perception area (i.e., a target that appears temporarily and exists for a short time in the perception area). For example, the perception area is a block, and the scattering body corresponding to the scattering point set is a vehicle driving on the block, or a drone, a bird flying over the block, etc.

[0153] Type B is used to represent that the duration of the existence of the scattering body corresponding to the scattering point set in the perception area is greater than or equal to threshold 2. In other words, Type B is used to represent that the scattering body corresponding to the scattering point set is an anchor target in the perception area (i.e., a target that exists for a long time in the perception area). For example, the perception area is a block, and the scattering body corresponding to the scattering point set is a building on the block, or a patrol vehicle on the block, etc.

[0154] For example, for a scattering point set, each scattering point in the scattering point set corresponds to a certain duration of existence, the average of the durations of existence of these scattering points is calculated, and according to the average, threshold 1 and threshold 2, the type of the scattering point set is determined.

[0155] It should be understood that in this application, threshold 1 can be less than or equal to threshold 2. In most application scenarios, threshold 1 and threshold 2 are the same threshold. Threshold 1 and threshold 2 can be set according to the use requirements of the application scenario. For example, in the environment reconstruction application scenario, threshold 1 and threshold 2 can be the same, such as both being 24 hours, 36 hours or 48 hours, etc. For another example, in the intrusion detection application scenario, threshold 1 and threshold 2 can be the same, such as both being 3 seconds, 6 seconds or 8 seconds, etc.

[0156] For another example, according to the moving speed of the scattering points, the types of the scattering point set can include: Type C and Type D.

[0157] Type C is used to represent that the moving speed of the scattering body corresponding to the scattering point set in the perception area is less than or equal to threshold 3. In other words, Type C is used to represent that the scattering body corresponding to the scattering point set is a stationary target in the perception area. For example, the perception area is a block, and the scattering body corresponding to the scattering point set is a building on the block, etc.

[0158] Type D is used to represent that the moving speed of the scatterer corresponding to the scatter point set in the perception area is greater than or equal to threshold 4. In other words, Type D is used to represent that the scatterer corresponding to the scatter point set is a moving target in the perception area. For example, the perception area is a block, and the scatterer corresponding to the scatter point set is a patrol vehicle in the block, and the like.

[0159] For example, for a scatter point set, each scatter point in the scatter point set corresponds to a moving speed, the average of the moving speeds of the scatter points is calculated, and according to the average, threshold 3 and threshold 4, the type of the scatter point set is determined.

[0160] It should be understood that in this application, threshold 3 can be less than or equal to threshold 4. In most application scenarios, threshold 3 and threshold 4 are the same threshold. Threshold 3 and threshold 4 can be set according to the use requirements of the application scenario. For example, in the intrusion detection application scenario, threshold 3 and threshold 4 can be the same, such as both being 10 meters per second (m / s), 10 meters per second, or 10 meters per second. For another example, in the environment reconstruction application scenario, threshold 3 and threshold 4 can be the same, such as both being 10 meters per second (m / s), 10 meters per second, or 10 meters per second. -7 -8 -9 For another example, in the environment reconstruction application scenario, threshold 3 and threshold 4 can be the same, such as both being 10 meters per second (m / s), 10 meters per second, or 10 meters per second. -1 -2 -3

[0161] For another example, the type of the scatter point set can include Type E, Type F, Type G, and Type H.

[0162] Type E is used to represent that the existence duration of the scatterer corresponding to the scatter point set in the perception area is greater than or equal to threshold 2, and the moving speed is less than or equal to threshold 3. In other words, Type E is used to represent that the scatterer corresponding to the scatter point set is a static anchor target in the perception area. For example, the perception area is a block, and the scatterer corresponding to the scatter point set is a building in the block, and the like. For example, Type E can be recorded as Targe_Type=0, as shown in Table 2.

[0163] Type F is used to represent that the existence duration of the scatterer corresponding to the scatter point set in the perception area is greater than or equal to threshold 2, and the moving speed is greater than or equal to threshold 4. In other words, Type F is used to represent that the scatterer corresponding to the scatter point set is a moving anchor target in the perception area. For example, the perception area is a block, and the scatterer corresponding to the scatter point set is a patrol vehicle in the block, and the like. For example, Type F can be recorded as Targe_Type=1, as shown in Table 2.

[0164] ​​​​​Type G is used to represent that the scatterer corresponding to the scatter point set has a presence duration in the perception area less than or equal to threshold 1 and a moving speed less than or equal to threshold 3. In other words, Type G is used to represent that the scatterer corresponding to the scatter point set is a stationary temporary target in the perception area. For example, the perception area is a block, and the scatterer corresponding to the scatter point set is a bird temporarily staying on a building in the block, etc. Exemplarily, Type G can be recorded as: Targe_Type=2, as shown in Table 2.

[0165] Type H is used to represent that the scatterer corresponding to the scatter point set has a presence duration in the perception area less than or equal to threshold 1 and a moving speed greater than or equal to threshold 4. In other words, Type H is used to represent that the scatterer corresponding to the scatter point set is a moving temporary target in the perception area. For example, the perception area is a block, and the scatterer corresponding to the scatter point set is a vehicle passing through the block, etc. Exemplarily, Type H can be recorded as: Targe_Type=3, as shown in Table 2.

[0166] Table 2

[0167] It should be understood that the scatter point set can also be classified according to other dimensions, and the type of the scatter point set obtained can be recorded as Type I. Type I can be recorded as: Targe_Type=4, as shown in Table 2.

[0168] It should be understood that the second communication device can first perform S302 and then perform S303, or first perform S303 and then perform S302, or simultaneously perform S302 and S303.

[0169] It should be understood that in some embodiments, the second communication device performs S302 and S303 for each scatter point set in S301. Alternatively, the second communication device performs S302 and S303 for part of the scatter point sets in S301.

[0170] For the second communication device, after the second communication device determines at least one scatter point set, the second communication device performs S304 and S305 for the scatter points in the at least one scatter point set:

[0171] S304, the second communication device determines the scatter point set matched by the scatter point.

[0172] Exemplarily, for a scatter point, the scatter point set to which the scatter point belongs, i.e., the scatter point set matched by the scatter point.

[0173] Exemplarily, the second communication device updates the awareness data of the scattering point according to the scattering point set to which the scattering point matches. For example, the awareness data of the scattering point further comprises an index of the scattering point set to indicate the scattering point set to which the scattering point belongs. Optionally, the awareness data of the scattering point further comprises a type of the scattering point set.

[0174] S305, the second communication device determines the awareness accuracy of the scattering point.

[0175] Exemplarily, for a scattering point, the second communication device determines an accuracy type (Accuracy_Type) according to the scattering point set to which the scattering point belongs. The accuracy type is used to represent the determination manner of the awareness accuracy. The second communication device determines the awareness accuracy (Accuracy) of the scattering point according to the accuracy type.

[0176] Exemplarily, the accuracy type can be one or more, as shown in Table 3:

[0177] Table 3

[0178] In Table 3, eight accuracy types are shown, each of which corresponds to a determination manner of the awareness accuracy.

[0179] Taking Table 3 as an example, the accuracy type Accuracy_Type=0 means that the determination manner of the awareness accuracy is the Euclidean distance between the scattering point and the centroid of the scattering point set to which the scattering point belongs. The centroid of the scattering point set can be determined according to the three-dimensional coordinates of all scattering points in the scattering point set.

[0180] For example, the scattering point set is denoted as scattering point set 1, which includes K scattering points, denoted as scattering points 1-K respectively, each of which corresponds to a three-dimensional coordinate. The three-dimensional coordinate of the scattering point i can be denoted as (x i ,y i ,z i ), i=1, 2, 3…, K. The three-dimensional coordinate of the centroid of the scattering point set 1 can be denoted as wherein the three-dimensional coordinate of the centroid of the scattering point set 1 satisfies:

[0181] wherein, represents the coordinate of the centroid of the scattering point set 1 on the x-axis, represents the coordinate of the centroid of the scattering point set 1 on the y-axis, represents the coordinate of the centroid of the scattering point set 1 on the z-axis. x j represents the coordinate of the scattering point j on the x-axis, y j represents the coordinate of the scattering point j on the y-axis, zj represents the coordinate of scattering point j on the z-axis, j is a positive integer traversing 1 to K. K represents the number of scattering points in scattering point set 1.

[0182] In this application, the centroid of a scattering point set is determined according to the three-dimensional coordinates of all scattering points in the scattering point set, so the centroid of the scattering point set can be understood as the real position of the scattering body corresponding to the scattering point set.

[0183] In this case, the perception accuracy of scattering point i satisfies:

[0184] wherein, A i represents the perception accuracy of scattering point i, represents the coordinate of the centroid of scattering point set 1 on the x-axis, represents the coordinate of the centroid of scattering point set 1 on the y-axis, represents the coordinate of the centroid of scattering point set 1 on the z-axis. x i represents the coordinate of scattering point i on the x-axis, y i represents the coordinate of scattering point i on the y-axis, z i represents the coordinate of scattering point i on the z-axis. i represents a positive integer greater than or equal to 1 and less than or equal to K.

[0185] Taking Table 3 as an example, the perception accuracy type Accuracy_Type=1 means that the perception accuracy determination method is the Euclidean distance between the scattering point and the SNR weighted centroid of the scattering point set to which it belongs. The SNR weighted centroid of the scattering point set can be determined according to the three-dimensional coordinates of all scattering points in the scattering point set and the SNR of the path on which the scattering points are located. The path on which the scattering points are located can be understood as the transmission path on which the signal is reflected after passing through the scattering point.

[0186] For example, the scattering point set is denoted as scattering point set 1, which includes K scattering points, denoted as scattering points 1-K respectively, and each scattering point corresponds to a three-dimensional coordinate. The SNR of the path on which the scattering point i is located can be denoted as SNR i , and the three-dimensional coordinates of the scattering point i can be denoted as (x i , y i , z i ), i=1, 2, 3…, K. The three-dimensional coordinates of the SNR weighted centroid of the scattering point set can be denoted as wherein, the three-dimensional coordinates of the SNR weighted centroid of the scattering point set satisfy:

[0187] wherein, a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the x-axis, a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the y-axis, a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the z-axis.x j a coordinate of the scattering point j on the x-axis, y j a coordinate of the scattering point j on the y-axis, z j a coordinate of the scattering point j on the z-axis, j is a positive integer traversing from 1 to K. K represents the number of scattering points in the set of scattering points 1.w j a weight corresponding to the scattering point j.

[0188] Exemplarily, the weight corresponding to each scattering point is determined according to the SNR of each scattering point in the set of scattering points 1. For example, the weight corresponding to the scattering point i satisfies:

[0189] wherein, SNR i a coordinate of the scattering point i on the x-axis, y j a coordinate of the scattering point j on the y-axis, z i a coordinate of the scattering point j on the z-axis, j is a positive integer traversing from 1 to K. K represents the number of scattering points in the set of scattering points 1.

[0190] In the present application, the SNR-weighted centroid of a set of scattering points is determined according to the three-dimensional coordinates of all scattering points in the set of scattering points and the SNR corresponding to all scattering points, so the SNR-weighted centroid of the set of scattering points can be understood as the real position of the scattering body corresponding to the set of scattering points.

[0191] In this case, the perception accuracy of the scattering point i satisfies:

[0192] wherein, A i a coordinate of the scattering point i on the x-axis, y a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the x-axis, a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the y-axis, a coordinate of the SNR-weighted centroid of the set of scattering points 1 (i.e. the set of scattering points to which the scattering point i belongs) on the z-axis.x i a coordinate of the scattering point i on the x-axis, y i a coordinate of the scattering point i on the y-axis, z iThis represents the coordinates of scattering point i on the z-axis. i represents a positive integer greater than or equal to 1 and less than or equal to K.

[0193] Taking Table 3 as an example, a perception accuracy type of Accuracy_Type = 2 means that the perception accuracy is determined as: the Euclidean distance between the scattering point and the centroid of its own scattering point set, projected onto the principal direction of its own scattering point set. The centroid of the scattering point set can be referred to in the previous paragraphs and will not be repeated here. The principal direction of the scattering point set can be understood as the normal direction of the plane containing all scattering points in the set. For example, taking a wall as an example, the plane containing all scattering points in the set can be understood as the plane corresponding to the wall. Correspondingly, the principal direction can be understood as the direction perpendicular to the wall.

[0194] For example, this set of scattering points is denoted as scattering point set 1. Scattering point set 1 includes K scattering points, denoted as scattering point 1-K, and each scattering point corresponds to a three-dimensional coordinate. The three-dimensional coordinate of scattering point i can be denoted as (x... i ,y i ,z i ), i = 1, 2, 3, ..., K. The three-dimensional coordinates of the centroid of the scattering point set 1 can be denoted as: The centroid of the scattering point set 1 can be found in the description of formula (1-1).

[0195] In this case, the sensing accuracy of scattering point i satisfies:

[0196] Among them, A i This represents the sensing accuracy of scattering point i. This represents the coordinates of the centroid of scattering point set 1 on the x-axis. This represents the y-coordinate of the centroid of scattering point set 1. x represents the coordinates of the centroid of scattering point set 1 on the z-axis. i The coordinates of scattering point i on the x-axis and y-axis are represented by the coordinates of scattering point i on the x-axis. i The z-coordinate represents the coordinates of scattering point i on the y-axis. i Let θ represent the coordinates of scattering point i on the z-axis. i represents a positive integer greater than or equal to 1 and less than or equal to K. θ represents the angle between the line formed by scattering point i and the centroid of scattering point set 1, and the principal direction of scattering point set 1.

[0197] Taking Table 3 as an example, the perception accuracy type Accuracy_Type = 3 means that the perception accuracy is determined by the statistical variance of the spatial positions of all scattering points in the set of scattering points to which the scattering point belongs. The spatial position of each scattering point can be understood as its three-dimensional coordinates.

[0198] For example, the scattering point set is recorded as scattering point set 1, scattering point set 1 includes K scattering points, respectively recorded as scattering points 1-K, and each scattering point corresponds to a three-dimensional coordinate. The three-dimensional coordinate of scattering point i can be recorded as (x i ,y i ,z i ), i = 1, 2, 3…, K. The three-dimensional coordinate of the first position of scattering point set 1 can be recorded as Wherein, the three-dimensional coordinate of the first position of scattering point set 1 satisfies:

[0199] Wherein, represents the coordinate of the first position of scattering point set 1 on the x-axis, represents the coordinate of the first position of scattering point set 1 on the y-axis, represents the coordinate of the first position of scattering point set 1 on the z-axis. x j represents the coordinate of scattering point j on the x-axis, y j represents the coordinate of scattering point j on the y-axis, and z j represents the coordinate of scattering point j on the z-axis, j is a positive integer traversing 1 to K. K represents the number of scattering points in scattering point set 1.

[0200] In this application, the first position of the scattering point set is determined according to the three-dimensional coordinates of all scattering points in the scattering point set, so the first position of the scattering point set can be understood as the real position of the scattering body corresponding to the scattering point set.

[0201] In this case, the sensing accuracy of scattering point i satisfies:

[0202] Wherein, A i represents the sensing accuracy of scattering point i, represents the coordinate of the first position of scattering point set 1 on the x-axis, represents the coordinate of the first position of scattering point set 1 on the y-axis, represents the coordinate of the first position of scattering point set 1 on the z-axis. i represents a positive integer greater than or equal to 1 and less than or equal to K.

[0203] It should be pointed out that based on formula (4-2), the sensing accuracy of different scattering points in the same scattering point set is the same.

[0204] It should be pointed out that in the 2nd-5th rows of Table 3, the three-dimensional coordinates are calculated to obtain the sensing accuracy. That is, for the narrow sense of sensing accuracy, that is, the sensing accuracy indicates the deviation between the measured position and the real position of a scattering point, the sensing accuracy determination method shown in the 2nd-5th rows can be used.

[0205] It should be noted that the perception accuracy determination manner shown in rows 6-9 of Table 3 is applicable to the general perception accuracy.

[0206] For example, taking SNR as an example, the perception accuracy indicates the deviation between the SNR measurement value corresponding to a scattering point and the first SNR. The first SNR is determined based on the first scattering point set and can represent the true value of SNR. For example, the first SNR is the average of the SNR measurement values corresponding to all scattering points in the first scattering point set. In this case, the perception accuracy determination manner of a scattering point can be shown as Accuracy_Type=4.

[0207] For another example, taking time delay as an example, the perception accuracy indicates the deviation between the measured time delay corresponding to a scattering point and the first time delay. The first time delay is determined based on the first scattering point set and can represent the true time delay. For example, the first time delay is the average of the time delays corresponding to all scattering points in the first scattering point set. In this case, the perception accuracy determination manner of a scattering point can be shown as Accuracy_Type=5.

[0208] For another example, taking angle as an example, the perception accuracy indicates the deviation between the measured angle corresponding to a scattering point and the first angle. The first angle is determined based on the first scattering point set and can represent the true angle. For example, the first angle is the average of the angles corresponding to all scattering points in the first scattering point set. In this case, the perception accuracy determination manner of a scattering point can be shown as Accuracy_Type=6.

[0209] For another example, taking speed as an example, the perception accuracy indicates the deviation between the measured speed of a scattering point and the first speed. The first speed is determined based on the first scattering point set and can represent the true speed. For example, the first speed is the average of the measured speeds of all scattering points in the first scattering point set. In this case, the perception accuracy determination manner of a scattering point can be shown as Accuracy_Type=7.

[0210] That is, the present application can provide a variety of dimensions and diversified perception accuracy determination manners, thereby helping to improve the accuracy of perception accuracy.

[0211] In some embodiments, for some scattering point set types, the scattering point set type is associated with a certain number of perception accuracy determination manners to improve the accuracy of the perception accuracy of the scattering points in the scattering point set.

[0212] For example, in the present application, one scattering point set type is associated with at least one perception accuracy determination manner.

[0213] For example, in Table 4, in rows 2 to 6, each row represents a type of scattering point set, and each type of scattering point set is associated with a plurality of types of perception accuracy, which means that each type of scattering point set is associated with a plurality of determination manners of the perception accuracy.

[0214] It can be understood that the number of types of scattering point sets is denoted as N, N is a positive integer. The number of types of perception accuracy is denoted as M, M is a positive integer. For each type of scattering point set, the number of types of perception accuracy associated with the scattering point set is K, K is a positive integer greater than or equal to 1 and less than or equal to M. For example, in Table 4, N = 5 and M = 8.

[0215] Table 4

[0216] It can be easily understood that in Table 4, for the case of target movement, such as Targe_Type = 1 or Targe_Type = 3, the determination manner of the perception accuracy in the speed dimension can be associated, such as Accuracy_Type = 7 in Table 4, to determine the perception accuracy in combination with the moving speed of the scattering point, thereby helping to improve the accuracy of the perception accuracy.

[0217] It should be understood that in some embodiments, the second communication device performs S304 and S305 for each scattering point involved in S301. Alternatively, the second communication device performs S304 and S305 for part of the scattering points involved in S301.

[0218] The above describes the parameters (index of the scattering point set Target ID, type of the scattering point set Targe_Type, type of the perception accuracy Accuracy_Type, perception accuracy Accuracy, etc.) and the determination process involved in the present application.

[0219] Next, the perception method of the embodiments of the present application is introduced. As shown in FIG. 5, the perception method 500 of the embodiments of the present application includes the following operations:

[0220] S501, the second communication device determines a first perception accuracy.

[0221] The second communication device can refer to the description of S301, and will not be described here.

[0222] The first perception accuracy is introduced as follows:

[0223] The first perception accuracy indicates the deviation between the measured position of the first scattering point and the first position, and the first position is determined according to a first scattering point set, the first scattering point set includes at least one scattering point of a first scattering body, and the at least one scattering point includes the first scattering point.

[0224] Exemplarily, the first set of scattering points can be the set of scattering points after the categorization processing. The first set of scattering points can refer to the introduction of S301. In this application, the first set of scattering points is included in the at least one set of scattering points. For example, the first set of scattering points is any one of the at least one set of scattering points.

[0225] Exemplarily, the first position is determined according to the first set of scattering points, which can be understood as that the first position is determined according to all scattering points in the first set of scattering points. The first position can represent the real position of the first scatterer.

[0226] For example, taking Table 3 as an example, the first position can be the centroid of the first set of scattering points, or the SNR weighted centroid of the first set of scattering points.

[0227] Exemplarily, the first scattering point can be any one of the first set of scattering points. The measurement position of the first scattering point can be indicated by the perception data corresponding to the first scattering point.

[0228] For example, taking Table 5 as an example, the first scattering point can be Scatter1, and the measurement position of the first scattering point can be the three-dimensional coordinates (x, y, z) corresponding to Scatter1. The first perception accuracy can be the perception accuracy (Accuracy) corresponding to Scatter1.

[0229] Table 5

[0230] For the second communication device, after the second communication device determines the first perception accuracy, S502 is performed:

[0231] S502, the second communication device sends the first perception accuracy to the first communication device. Correspondingly, the first communication device receives the first perception accuracy from the second communication device.

[0232] The first communication device can be a network device or a terminal device, which can refer to the introduction of FIG. 1a or FIG. 1b. Hereinafter, the first communication device is taken as a terminal device for example.

[0233] Exemplarily, the first perception accuracy is transmitted in the form of perception data.

[0234] For example, in Table 5, the first scatter point can be Scatter 1, and the second communication device sends the first communication device the perception data of Scatter 1. The perception data of Scatter 1 includes the perception accuracy of Scatter 1. Optionally, the perception data of Scatter 1 further includes at least one of the following: the identification of Scatter 1 (Scatter ID), the three-dimensional coordinates of Scatter 1 (x, y, z), the velocity of Scatter 1, the likelihood of Scatter 1, the angle of the path where Scatter 1 is located, or the power, etc.

[0235] For the first communication device, after receiving the first perception accuracy, the first communication device performs S503:

[0236] S503, the first communication device performs perception according to the first perception accuracy.

[0237] For example, if the deviation indicated by the first perception accuracy is large, such as greater than or equal to a threshold 5, it means that the measurement position accuracy of the first scatter point is poor, and the perception of the first scatter point is failed. In this case, the first scatter point can be removed (or deleted), thereby reducing the influence of a single failed scatter point on the perception result of the first scatter body, and helping to improve the perception performance.

[0238] On the contrary, if the deviation indicated by the first perception accuracy is small, such as less than or equal to a threshold 6, it means that the measurement position accuracy of the first scatter point is high, and the perception of the first scatter point is successful. In this case, the first scatter point can be retained, and the perception processing (such as fusion processing) of the first scatter point is performed, thereby more accurately determining the distribution of the first scatter body in the environment, and achieving the improvement of the perception performance.

[0239] It should be understood that in this application, the threshold 5 can be greater than or equal to the threshold 6. In most application scenarios, the threshold 5 and the threshold 6 are the same threshold. The threshold 5 and the threshold 6 can be set according to the use requirements of the application scenario. For example, in a building detection application scenario, the threshold 5 and the threshold 6 can be the same, such as both being 3 meters, 10 meters, or 15 meters, etc. For another example, in an intrusion detection application scenario, the threshold 5 and the threshold 6 can be the same, such as both being 0.01 meters, 0.03 meters, or 0.1 meters, etc.

[0240] In some embodiments, as shown in FIG. 6, the perception method of the embodiments of the application further includes the following operations:

[0241] S511, the second communication device sends an index of the first set of scattering points to the first communication device. Correspondingly, the first communication device receives the index of the first set of scattering points from the second communication device.

[0242] The index of the first set of scattering points can be a number, a symbol or other identification, which will be described in detail in S302 and will not be repeated.

[0243] Exemplarily, the index of the first set of scattering points is transmitted in the form of perception data.

[0244] Taking Table 5 as an example, the first scattering point can be Scatter 1, and the second communication device sends the perception data of Scatter 1 to the first communication device. The perception data of Scatter 1 includes the index (Target ID) of the scattering point set to which Scatter 1 belongs.

[0245] S512, the second communication device sends the type of the first set of scattering points to the first communication device. Correspondingly, the first communication device receives the type of the first set of scattering points from the second communication device.

[0246] The type of the first set of scattering points is used to represent the duration of the existence of the first scattering body in the perception area or the moving speed of the first scattering body.

[0247] For example, the type of the first set of scattering points can be represented as: Targe_Type=0, which means that the first scattering body is a static anchor target in the perception area.

[0248] For another example, the type of the first set of scattering points can be represented as: Targe_Type=1, which means that the first scattering body is a moving anchor target in the perception area.

[0249] For another example, the type of the first set of scattering points can be represented as: Targe_Type=2, which means that the first scattering body is a static temporary target in the perception area.

[0250] For another example, the type of the first set of scattering points can be represented as: Targe_Type=3, which means that the first scattering body is a moving temporary target in the perception area.

[0251] The type of the first set of scattering points can be described in detail in S303 and will not be repeated.

[0252] Exemplarily, the type of the first set of scattering points is transmitted in the form of perception data.

[0253] For example, Table 5, the first scattering point can be Scatter 1, and the second communication device sends the perception data of Scatter 1 to the first communication device. The perception data of Scatter 1 includes the type of the scattering point set to which Scatter 1 belongs (Targe_Type).

[0254] S513, the second communication device sends the type of the first perception accuracy to the first communication device. Correspondingly, the first communication device receives the type of the first perception accuracy from the second communication device.

[0255] The type of the first perception accuracy is used to represent the determination manner of the first perception accuracy.

[0256] For example, the type of the first perception accuracy can be represented as Accuracy_Type = 0, which means that the first position is the centroid of the first scattering point set. The first perception accuracy is the Euclidean distance between the measured position of the first scattering point and the centroid of the first scattering point set.

[0257] For another example, the type of the first perception accuracy can be represented as Accuracy_Type = 1, which means that the first position is the SNR weighted centroid of the first scattering point set. The first perception accuracy is the Euclidean distance between the measured position of the first scattering point and the SNR weighted centroid of the first scattering point set.

[0258] The type of the first perception accuracy can be referred to the description of S305, and will not be repeated here.

[0259] Exemplarily, the type of the first perception accuracy is transmitted in the form of perception data.

[0260] For example, Table 5, the first scattering point can be Scatter 1, and the second communication device sends the perception data of Scatter 1 to the first communication device. The perception data of Scatter 1 includes the type of the first perception accuracy (Accuracy_Type) of Scatter 1.

[0261] In some embodiments, as shown in FIG. 7, the perception method of the embodiments of the present application further includes the following operations:

[0262] S521, the second communication device obtains the perception data of the second scattering point.

[0263] Exemplarily, taking Table 1 as an example, the second scattering point can be Scatter 2, and the perception data of Scatter 2 includes at least one of the following: an identifier (Scatter ID) of Scatter 2, three-dimensional coordinates (x, y, z) of Scatter 2, a velocity of Scatter 2, a likelihood of Scatter 2, an angle of a path where Scatter 2 is located, or power, and the like.

[0264] For example, the second communication device obtains the perception data of the second scattering point by a certain perception manner, such as a self-emission and self-reception perception manner.

[0265] For another example, the first communication device sends the perception data of the second scattering point to the second communication device. Correspondingly, the second communication device receives the perception data of the second scattering point from the first communication device.

[0266] In the present application, it can be understood that the second scattering point is a newly perceived scattering point.

[0267] S522, the second communication device performs classification processing on the second scattering point to obtain a scattering point set to which the second scattering point belongs.

[0268] Exemplarily, the second communication device adopts a clustering algorithm to perform classification processing on the second scattering point, which can be referred to the introduction of S301, and will not be described herein again.

[0269] For the second communication device, the second communication device has stored a certain number of scattering point set indexes. After performing classification processing on the second scattering point, if the second scattering point can be classified into an existing scattering point set, S523 is performed, and if the second scattering point cannot be classified into an existing scattering point set, S524 is performed. The introduction of S523 and S524 is as follows:

[0270] S523, the second communication device determines a scattering point set index and a type associated with the second scattering point according to the scattering point set to which the second scattering point belongs.

[0271] The scattering point set associated with the second scattering point can be understood as the scattering point set to which the second scattering point belongs. For example, the second scattering point is classified into the second scattering point set, which can be understood as that the second scattering point is associated with the second scattering point set. The second scattering point set includes at least one scattering point of the second scattering body.

[0272] Exemplarily, the second scattering point is categorized into the second scattering point set, and the second communication device updates the perception data of the second scattering point according to the second scattering point set. For example, the perception data of the second scattering point further comprises an index of the second scattering point set, to indicate the scattering point set to which the second scattering point belongs. Optionally, the perception data of the second scattering point further comprises a type of the second scattering point set.

[0273] S524, the second communication device determines the index and the type of the scattering point set to which the second scattering point belongs.

[0274] Exemplarily, the second scattering point is categorized into the second scattering point set, and the second communication device configures an index for the second scattering point set, which can be referred to the introduction of S302.

[0275] Exemplarily, the second scattering point is categorized into the second scattering point set, and the second communication device determines the type of the second scattering point set. For example, the second scattering point set comprises at least one scattering point of the second scattering body, and the type of the second scattering point set can represent at least one of: a duration of the presence of the second scattering body in the perception area, or a moving speed of the second scattering body, which can be referred to the introduction of S303, and will not be repeated here.

[0276] Further, in S524, the second scattering point set is a scattering point set obtained by clustering for the first time, which means that the second scattering body is a newly appeared scattering body in the perception area. In this case, the type of the second scattering point set is used to represent that the duration of the presence of the second scattering body in the perception area is less than or equal to a threshold 1. The type of the second scattering point set can be represented as: Targe_Type=2, or Targe_Type=3, which can be referred to the introduction of Table 2, and will not be repeated here.

[0277] The second communication device updates the perception data of the second scattering point. For example, the perception data of the second scattering point further comprises an index of the second scattering point set, to indicate the scattering point set to which the second scattering point belongs. Optionally, the perception data of the second scattering point further comprises a type of the second scattering point set.

[0278] It should be noted that the second scattering body and the first scattering body can be different scattering bodies. The second scattering point set and the first scattering point set can be different sets.

[0279] For the second communication device, after the second communication device performs S523 or S524, the second communication device performs S525:

[0280] S525, the second communication device determines the perception accuracy of the second scattering point.

[0281] Exemplarily, the second communication apparatus determines an accuracy type (Accuracy_Type) according to the scatter point set to which the second scatter point belongs. The accuracy type is used to represent the determination manner of the accuracy of the second scatter point. The second communication apparatus determines the accuracy (Accuracy) of the second scatter point according to the accuracy type. For details, refer to the description of S305, which will not be repeated here.

[0282] Exemplarily, taking Table 5 as an example, the second scatter point can be Scatter 2, and the sensing data of Scatter 2 includes at least one of the following: the index (Target ID) of the second scatter point set, the type (Target_Type) of the second scatter point set, the accuracy type (Accuracy_Type) of Scatter 2, and the accuracy (Accuracy) of Scatter 2.

[0283] Based on S521-S525, the second communication apparatus can perform classification processing on the latest sensed scatter point, so as to determine the scatter point set to which the latest sensed scatter point belongs, and determine the accuracy of the scatter point based on the scatter point set.

[0284] In some embodiments, the application can also update the type of the scatter point set. As shown in FIG. 8, the sensing method of the application further includes the following operations:

[0285] S531, the second communication apparatus acquires the type of the second scatter point set and the sensing result of the second scatter point set.

[0286] For details of the second scatter point set, refer to the description of S521-S525, which will not be repeated here.

[0287] The sensing result of the second scatter point set indicates that the number of scatter points in the second scatter point set increases, and the duration is greater than a first threshold.

[0288] Exemplarily, the second communication apparatus sends a signal for sensing, so as to obtain a sensing result X. The sensing result X indicates the measurement position of one or more scatter points. For each scatter point in the sensing result X, classification processing is performed to determine whether to be classified into the second scatter point set. For example, the second communication apparatus sends a signal every 10 ms, which means that the determination of whether a newly sensed scatter point is classified into the second scatter point set or whether a scatter point in the second scatter point set is added can be performed every 10 ms.

[0289] Exemplarily, the first threshold can be greater than or equal to the sending period of the signal. For example, the first threshold can be 24 hours, 36 hours, or 48 hours, etc.

[0290] It should be noted that in this application, the number of scattering points of the second scattering point set is increased, and the duration is greater than the first threshold, which means that the second scattering body corresponding to the second scattering point set is a long-existing target in the perception area, and the second scattering point is an anchor target in the perception area.

[0291] For the second communication device, after the second communication device acquires the type of the second scattering point set and the perception result of the second scattering point set, S532 is performed:

[0292] S532, the second communication device updates the type of the second scattering point set according to the perception result of the second scattering point set.

[0293] Exemplarily, before the updating process, the type of the second scattering point set is used to represent that the existence duration of the second scattering body in the perception area is less than or equal to the threshold 1. It means that the second scattering body is a temporary target in the perception area, as shown in FIG. 9a. The type of the second scattering point set can be represented as: Targe_Type=2, or Targe_Type=3, which will be described in detail in Table 2, and will not be described here.

[0294] Exemplarily, after the updating process, the type of the second scattering point set is used to represent that the existence duration of the second scattering body in the perception area is greater than or equal to the threshold 2. It means that the second scattering body is an anchor target in the perception area, as shown in FIG. 9a. The type of the second scattering point set can be represented as: Targe_Type=0, or Targe_Type=1, which will be described in detail in Table 2, and will not be described here.

[0295] S533, the second communication device sends the first parameter.

[0296] The first parameter indicates the updated type.

[0297] Exemplarily, the second communication device sends the first parameter to the first communication device. Correspondingly, the first communication device receives the first parameter from the second communication device, so that the first communication device performs the perception process according to the first parameter.

[0298] In some embodiments, the present application can also cancel the scattering point set. As shown in FIG. 8, the perception method of the present application further includes the following operations:

[0299] S541, the second communication device acquires the perception result of the third scattering point set.

[0300] The third scattering point set includes at least one scattering point of the third scattering body.

[0301] Exemplarily, the type of the third scattering point set is used to represent at least the existence duration of the third scattering body in the perception area.

[0302] For example, the type of the third set of scattering points is used to represent that the third scatterer has a presence duration in the perception area less than or equal to a threshold 1. That is, the third scatterer is a temporary target in the perception area, which can be seen from the introduction of S303 and will not be repeated here.

[0303] For another example, the type of the third set of scattering points is used to represent that the third scatterer has a presence duration in the perception area greater than or equal to a threshold 2. That is, the third scatterer is an anchor target in the perception area, which can be seen from the introduction of S303 and will not be repeated here.

[0304] It should be pointed out that the third scatterer and the second scatterer can be different scatterers. The third set of scattering points and the second set of scattering points can be different sets.

[0305] The perception result of the third set of scattering points indicates that the number of scattering points of the third set of scattering points has not increased and the duration is greater than a second threshold.

[0306] Exemplarily, the second communication device sends a signal for perception, thereby obtaining a perception result Y. The perception result Y indicates the measured positions of one or more scattering points. For each scattering point in the perception result Y, a classification processing is performed to determine whether to be classified into the third set of scattering points. For example, the second communication device sends a signal every 10 ms, which means that the determination of whether a newly perceived scattering point is classified into the third set of scattering points or whether the number of scattering points of the third set of scattering points is increased can be performed every 10 ms.

[0307] Exemplarily, the second threshold can be greater than or equal to the sending period of the above-mentioned signal. For example, the second threshold can be 12 hours, 16 hours, etc.

[0308] It should be pointed out that in the present application, the number of scattering points of the third set of scattering points has not increased and the duration is greater than the second threshold, which means that the third scatterer corresponding to the third set of scattering points disappears from the perception area.

[0309] For the second communication device, after the second communication device obtains the perception result of the third set of scattering points, S542 is performed:

[0310] S542, the second communication device deletes the third set of scattering points according to the perception result of the third set of scattering points.

[0311] Exemplarily, before the deleting processing, the type of the third scattering point set is used to represent that the third scatterer has a presence duration in the perception area less than or equal to a threshold 1. That means, the third scatterer is a temporary target in the perception area, as shown in FIG. 9b. The type of the third scattering point set can be represented as: Targe_Type = 2, or Targe_Type = 3, which will be described in detail in Table 2, and will not be repeated here.

[0312] Alternatively, before the deleting processing, the type of the third scattering point set is used to represent that the third scatterer has a presence duration in the perception area greater than or equal to a threshold 2. That means, the third scatterer is an anchor target in the perception area, as shown in FIG. 9b. The type of the third scattering point set can be represented as: Targe_Type = 0, or Targe_Type = 1, which will be described in detail in Table 2, and will not be repeated here.

[0313] Exemplarily, after the deleting processing, the second communication device deletes the perception data of each scattering point in the third scattering point set, and the related parameters of the third scattering point set, such as the index of the third scattering point set, the type of the third scattering point set, and the association relationship between the third scattering point set and the perception accuracy determination manner.

[0314] It can be understood that, in each of the above embodiments, the method and / or steps implemented by the first communication device can also be implemented by a component (such as a processor, a chip, a chip system, a circuit, a logic module, or software) that can be used for the first communication device; the method and / or steps implemented by the second communication device can also be implemented by a component (such as a processor, a chip, a chip system, a circuit, a logic module, or software) that can be used for the second communication device. The chip system can be composed of a chip, or the chip system can include a chip and other discrete devices.

[0315] It can be understood that, in order to implement the above functions, the communication device contains the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0316] The embodiments of the present application can divide the functions of the communication device according to the above-mentioned method embodiments, for example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be realized in the form of hardware or in the form of a software function module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, another division mode can be used.

[0317] FIG. 10 shows a structural schematic diagram of a communication device 1000. The communication device 1000 includes a processing module 1001 and a transceiver module 1002. The communication device 1000 can be used to implement the functions of the above-mentioned first communication device or second communication device.

[0318] In some embodiments, the communication device 1000 can further include a storage module (not shown in FIG. 10) for storing program instructions and data.

[0319] In some embodiments, the transceiver module 1002, which can also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions. The transceiver module 1002 can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0320] In some embodiments, the transceiver module 1002 can include a receiving module and a sending module, which are respectively used to perform the receiving and sending steps of the above-mentioned method embodiments performed by the first communication device or the second communication device, and / or other processes for supporting the technologies described herein; the processing module 1001 can be used to perform the processing steps (such as determination, etc.) of the above-mentioned method embodiments performed by the first communication device or the second communication device, and / or other processes for supporting the technologies described herein.

[0321] For example, when the communication device 1000 is used to implement the functions of the above-mentioned first communication device:

[0322] The transceiver module 1002 is configured to receive a first perception accuracy, the first perception accuracy indicating a deviation between a measured position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set including at least one scattering point of a first scatterer, and the at least one scattering point including the first scattering point.

[0323] The processing module 1001 is configured to perform perception according to the first perception accuracy.

[0324] In a possible design, the transceiver module 1002 is further configured to receive at least one of the following: an index of the first scattering point set, a type of the first scattering point set, or a type of the first perception accuracy.

[0325] The type of the first scattering point set is used to represent at least one of: a duration of existence of the first scattering body in the sensing area, or a moving speed of the first scattering body. The type of the first sensing accuracy is used to represent a determination manner of the first sensing accuracy.

[0326] For another example, when the communication apparatus 1000 is used to implement the function of the second communication apparatus as described above, the processing module 1001 is further configured to:

[0327] The processing module 1001 is configured to determine a first sensing accuracy, the first sensing accuracy indicating a deviation between a measured position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set including at least one scattering point of a first scattering body, the at least one scattering point including the first scattering point.

[0328] The transceiver module 1002 is configured to send the first sensing accuracy.

[0329] In a possible design, the transceiver module 1002 is further configured to send at least one of: an index of the first scattering point set, a type of the first scattering point set, or a type of the first sensing accuracy.

[0330] The type of the first scattering point set is used to represent at least one of: a duration of existence of the first scattering body in the sensing area, or a moving speed of the first scattering body. The type of the first sensing accuracy is used to represent a determination manner of the first sensing accuracy.

[0331] In a possible design, the processing module 1001 is further configured to obtain a type of a second scattering point set and a sensing result of the second scattering point set, the second scattering point set including at least one scattering point of a second scattering body, the sensing result of the second scattering point set indicating that a number of scattering points of the second scattering point set increases and a duration of the increase is greater than a first threshold.

[0332] The processing module 1001 is further configured to update the type of the second scattering point set according to the sensing result of the second scattering point set.

[0333] The transceiver module 1002 is further configured to send a first parameter, the first parameter indicating the updated type.

[0334] In a possible design, the processing module 1001 is further configured to obtain a sensing result of a third scattering point set, the third scattering point set including at least one scattering point of a third scattering body, the sensing result of the third scattering point set indicating that a number of scattering points of the third scattering point set does not increase and a duration of the non-increase is greater than a second threshold.

[0335] The processing module 1001 is further configured to delete the third scattering point set according to the sensing result of the third scattering point set.

[0336] All the related content of each step involved in the method embodiments can be referred to the function description of the corresponding function module, and will not be repeated here.

[0337] Optionally, in this application, the transceiver module receives / transmits information, which can also be understood as the processing module receiving / transmitting information through the transceiver module. The processing module receiving / transmitting information through the transceiver module can also be understood as: the processing module controls the transceiver module to receive / transmit information. Alternatively, the processing module transmitting information through the transceiver module can be understood as: the processing module outputs information to the transceiver module, and the transceiver module transmits the information; the processing module receiving information through the transceiver module can be understood as: the transceiver module receives information and inputs the information to the processing module.

[0338] In this application, the communication apparatus 1000 can be in the form of an integrated manner to divide each function module. The "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0339] In some embodiments, when the communication apparatus 1000 in FIG. 10 is a chip or a chip system, the function / implementation process of the transceiver module 1002 can be implemented through the input / output interface (or communication interface) of the chip or chip system, and the function / implementation process of the processing module 1001 can be implemented through the processor (or processing circuit) of the chip or chip system.

[0340] Since the communication apparatus 1000 provided by the embodiment can execute the above method, the technical effects it can obtain can be referred to the above method embodiments, which will not be repeated here.

[0341] As a possible product form, the first communication apparatus or the second communication apparatus described in the embodiments of the present application can also be implemented using one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0342] As another possible product form, the first communication device or the second communication device described in the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 11, which is a structural schematic diagram of a communication device 1100 provided by the embodiments of the present application. The communication device 1100 includes a processor 1101 and a transceiver 1102. The communication device 1100 can be a first communication device, or a chip or chip system therein. Alternatively, the communication device 1100 can be a second communication device, or a chip or module therein. FIG. 11 only shows the main components of the communication device 1100. In addition to the processor 1101 and the transceiver 1102, the communication device 1100 can further include a memory 1103, and an input / output device (not shown in the figure).

[0343] Optionally, the processor 1101 is mainly used for processing communication protocols and communication data, and controlling the entire communication device, executing software programs, and processing data of the software programs. The memory 1103 is mainly used for storing software programs and data. The transceiver 1102 can include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for conversion between a baseband signal and a radio frequency signal, and processing of the radio frequency signal. The antenna is mainly used for transceiving radio frequency signals in the form of electromagnetic waves. The input / output device, such as a touch screen, a display screen, a keyboard, etc., is mainly used for receiving user input data and outputting data to the user.

[0344] Optionally, the processor 1101, the transceiver 1102, and the memory 1103 can be connected through a communication bus.

[0345] It should be noted that the memory 1103 can exist independently of the processor 1101, or can be integrated with the processor 1101. The memory 1103 can be located inside the communication device 1100, or can be located outside the communication device 1100, without limitation.

[0346] When the communication device is powered on, the processor 1101 can read the software programs in the memory 1103, interpret and execute instructions of the software programs, and process data of the software programs. When data needs to be transmitted wirelessly, the processor 1101 performs baseband processing on the data to be transmitted, and outputs a baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic waves through the antenna. When data is transmitted to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1101. The processor 1101 converts the baseband signal into data and processes the data.

[0347] In another implementation, the radio frequency circuitry and the antenna can be provided separately from the processor that performs baseband processing, for example in a distributed scenario where the radio frequency circuitry and the antenna can be arranged remotely from the communication device.

[0348] In some embodiments, on hardware implementation, those skilled in the art can conceive that the above-mentioned communication device 1000 can take the form of a communication device 1100 shown in Figure 11.

[0349] As an example, the functions / implementation processes of the processing module 1001 in Figure 10 can be implemented by the processor 1101 in the communication device 1100 shown in Figure 11 invoking computer-executable instructions stored in the memory 1103. The functions / implementation processes of the transceiver module 1002 in Figure 10 can be implemented by the transceiver 1102 in the communication device 1100 shown in Figure 11.

[0350] As another possible product form, the first communication device or the second communication device in the present application can adopt the constituent structure shown in Figure 12, or include the components shown in Figure 12. Figure 12 is a constituent diagram of a communication device 1200 provided in the present application.

[0351] As shown in Figure 12, the communication device 1200 includes at least one processor 1201. Optionally, the communication device further includes a communication interface 1202.

[0352] When the program instructions involved are executed in the at least one processor 1201, the device 1200 can be caused to implement the method provided in any of the preceding embodiments and any possible design thereof. Alternatively, the processor 1201 is used to implement the method provided in any of the preceding embodiments and any possible design thereof by logic circuit or executing code instructions.

[0353] The communication interface 1202 can be used to receive program instructions and transmit them to the processor, or the communication interface 1202 can be used for the communication device 1200 to communicate with other communication devices, such as interacting with control signaling and / or service data, etc. For example, the communication interface 1202 can be used to receive signals from other devices outside the communication device 1200 and transmit them to the processor 1201 or send signals from the processor 1201 to other communication devices outside the communication device 1200.

[0354] Optionally, the communication interface 1202 can be a code and / or data read-write interface circuit, or the communication interface 1202 can be a signal transmission interface circuit between the communication processor and the transceiver, or a pin of the chip.

[0355] Optionally, the communication device 1200 can further include at least one memory 1203, which can be used to store required program instructions and / or data.

[0356] It should be noted that the memory 1203 can exist independently of the processor 1201, or can be integrated with the processor 1201. The memory 1203 can be located within the communication device 1200, or can be located outside the communication device 1200, without limitation.

[0357] Optionally, the communication device 1200 can further include a power supply circuit 1204, which can be used to supply power to the processor 1201. The power supply circuit 1204 can be located in the same chip as the processor 1201, or can be located in another chip that is separate from the chip in which the processor 1201 is located.

[0358] Optionally, the communication device 1200 can further include a bus 1205, through which various parts of the communication device 1200 can be interconnected.

[0359] In some embodiments, in a hardware implementation, those skilled in the art can conceive that the communication device 1000 shown in Figure 10 can take the form of the communication device 1200 shown in Figure 12.

[0360] As an example, the functions / implementation processes of the processing module 1001 in Figure 10 can be implemented by the processor 1201 in the communication device 1200 in Figure 12 invoking computer-executable instructions stored in the memory 1203. The functions / implementation processes of the transceiver module 1002 in Figure 10 can be implemented by the communication interface 1202 in the communication device 1200 in Figure 12.

[0361] It should be noted that the structure shown in Figure 12 does not constitute a specific limitation on the first communication device or the second communication device. For example, in other embodiments of the present application, the first communication device or the second communication device can include more or fewer components than those shown, or can combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0362] Optionally, the processor in the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, or discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor.

[0363] Optionally, the memory in the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), or direct rambus RAM (DR RAM).

[0364] Optionally, the power supply circuit described in the embodiments of the present application includes but is not limited to at least one of the following: a power supply circuit, a power supply system, a power management chip, a power consumption management processor, or a power consumption management control circuit.

[0365] In some embodiments, the communication apparatus also includes a processor configured to implement the method in any one of the method embodiments.

[0366] As a possible implementation, the communication apparatus also includes a memory. The memory is configured to store necessary computer programs and data. The computer programs can include instructions, and the processor can invoke the instructions in the computer programs stored in the memory to instruct the communication apparatus to perform the method in any one of the method embodiments. Of course, the memory can also not be in the communication apparatus.

[0367] As another possible implementation, the communication apparatus also includes an interface circuit, which is a code / data read / write interface circuit. The interface circuit is configured to receive computer execution instructions (the computer execution instructions are stored in the memory, and can be read directly from the memory or can pass through other devices) and transmit to the processor.

[0368] As yet another possible implementation, the communication apparatus also includes a communication interface configured to communicate with modules outside the communication apparatus.

[0369] It can be understood that the communication apparatus can be a chip or a chip system. When the communication apparatus is a chip system, the communication apparatus can be composed of a chip or can include a chip and other discrete devices. The embodiments of the present application do not make a specific limitation in this regard.

[0370] The present application also provides a computer readable storage medium having stored thereon a computer program or instructions, which, when executed by a computer, implement the functions of any one of the method embodiments.

[0371] The present application also provides a computer program product, which, when executed by a computer, implement the functions of any one of the method embodiments.

[0372] Those skilled in the art can understand that, for the convenience and brevity of the description, the specific working processes of the system, apparatus and unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0373] It can be understood that the system, apparatus and method described in the present application can also be implemented in other ways. For example, the apparatus embodiments described above are only schematic. For example, the division of the units is only a logical function division. There can be another division manner in actual implementation. 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 in other forms.

[0374] The units described as separate components may or may not be physically separate, i.e., may be located in one place, or may be distributed to multiple network units. The components shown as units may or may not be physical units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0375] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit.

[0376] In the above embodiments, all or part can be realized by software, hardware, firmware or any combination thereof. When realized by software, all or part can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or data storage device including one or more servers, data centers, etc. integrated with one or more media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state drive (SSD)), etc. In the embodiments of the present application, the computer can include the device described above.

[0377] Although the application has been described in connection with various embodiments, it will be understood that the application is capable of further modifications. These modifications will be apparent to those skilled in the art taking into account the disclosure and the appended claims. In the claims, the term "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can fulfil the functions of several items recited in the claims. The terms "first", "second" and the like do not imply any ordering, but rather are used as namers. The terms "comprise", "comprising", "include", "including" and the like are used herein to mean including at least the recited item, but not to the exclusion of other items.

Claims

1. A perception method, comprising: Comprising: receiving a first perception accuracy, the first perception accuracy indicating a deviation between a measured position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set comprising at least one scattering point of a first scatterer, the at least one scattering point comprising the first scattering point; perceiving according to the first perception accuracy.

2. The method of claim 1, wherein, The method further comprises receiving at least one of: an index of the first scattering point set, a type of the first scattering point set, or a type of the first perception accuracy; wherein the type of the first scattering point set is used to represent at least one of: a duration of existence of the first scatterer in a perception area, or a moving speed of the first scatterer; and the type of the first perception accuracy is used to represent a determination manner of the first perception accuracy.

3. The method of claim 2, wherein, The type of the first scattering point set comprises one of: a first type, or a second type; wherein the first type is used to represent that the duration of existence of the first scatterer in the perception area is less than or equal to a first threshold, and the second type is used to represent that the duration of existence of the first scatterer in the perception area is greater than or equal to a second threshold; or, the first type is used to represent that the first scatterer is a temporary target in the perception area, and the second type is used to represent that the first scatterer is an anchor target in the perception area.

4. The method according to claim 2 or 3, characterized in that, The type of the first scattering point set comprises one of: a third type, or a fourth type; wherein the third type is used to represent that the moving speed of the first scatterer in the perception area is less than or equal to a third threshold, and the fourth type is used to represent that the moving speed of the first scatterer in the perception area is greater than or equal to a fourth threshold; or, the third type is used to represent that the first scatterer is a stationary target in the perception area, and the fourth type is used to represent that the first scatterer is a moving target in the perception area.

5. The method according to any one of claims 2-4, characterized in that, The type of the first scattering point set is indicated by a type value of the first scattering point set; The correspondence between the type value of the first set of scatter points and the first scatterer is included in the following table: wherein when the type value of the first scattering point set is 0, the first scatterer is a stationary anchor target in the perception area; or, when the type value of the first scattering point set is 1, the first scatterer is a moving anchor target in the perception area; or, when the type value of the first scattering point set is 2, the first scatterer is a stationary temporary target in the perception area; or, when the type value of the first scattering point set is 3, the first scatterer is a moving temporary target in the perception area.

6. The method according to any one of claims 2-5, characterized in that, The type of the first scattering point set is a fifth type, and the fifth type is associated with at least one perception accuracy determination manner, the at least one perception accuracy determination manner comprising the determination manner of the first perception accuracy.

7. The method according to any one of claims 2-6, characterized in that, The type of the first scattering point set is indicated by a type value of the first scattering point set, and the type of the first perception accuracy is indicated by a type value of the first perception accuracy; The correspondence between the type value of the first set of scattering points and the type value of the first perception accuracy is included in the following table: wherein when the type value of the first scattering point set is 0, the type value of the first perception accuracy comprises at least one of: 0, 1, 2, 3, 4, 5, 6; Alternatively, when the type value of the first scattering point set is 1, the type value of the first perception accuracy includes at least one of 0, 1, 2, 3, 4, 5, 6, and 7. Alternatively, when the type value of the first scattering point set is 2, the type value of the first perception accuracy includes at least one of 0, 1, 3, 4, 5, and 6. Alternatively, when the type value of the first scattering point set is 3, the type value of the first perception accuracy includes at least one of 0, 1, 3, 4, 5, 6, and 7.

8. A perception method comprising: comprising: determining a first perception accuracy, the first perception accuracy indicating a deviation between a measurement position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set including at least one scattering point of a first scatterer, the at least one scattering point including the first scattering point; sending the first perception accuracy.

9. The method of claim 8, wherein, The method further includes sending at least one of an index of the first scattering point set, a type of the first scattering point set, or a type of the first perception accuracy. The type of the first scattering point set is used to represent at least one of a duration of existence of the first scatterer in a perception area or a moving speed of the first scatterer, and the type of the first perception accuracy is used to represent a determination manner of the first perception accuracy.

10. The method of claim 9, wherein, The type of the first scattering point set includes one of a first type or a second type. The first type is used to represent that the duration of existence of the first scatterer in the perception area is less than or equal to a first threshold value, and the second type is used to represent that the duration of existence of the first scatterer in the perception area is greater than or equal to a second threshold value. Alternatively, the first type is used to represent that the first scatterer is a temporary target in the perception area, and the second type is used to represent that the first scatterer is an anchor target in the perception area.

11. The method according to claim 9 or 10, characterized in that, The type of the first scattering point set includes one of a third type or a fourth type. The third type is used to represent that the moving speed of the first scatterer in the perception area is less than or equal to a third threshold value, and the fourth type is used to represent that the moving speed of the first scatterer in the perception area is greater than or equal to a fourth threshold value. Alternatively, the third type is used to represent that the first scatterer is a stationary target in the perception area, and the fourth type is used to represent that the first scatterer is a moving target in the perception area.

12. The method according to any one of claims 9-11, characterized in that, The type of the first scattering point set is indicated by a type value of the first scattering point set. The correspondence between the type value of the first set of scatter points and the first scatterer is included in the following table: When the type value of the first scattering point set is 0, the first scatterer is a stationary anchor target in the perception area. Alternatively, when the type value of the first scattering point set is 1, the first scatterer is a moving anchor target in the perception area. Alternatively, when the type value of the first scattering point set is 2, the first scatterer is a stationary temporary target in the perception area. Alternatively, when the type value of the first scattering point set is 3, the first scatterer is a moving temporary target in the perception area.

13. The method according to any one of claims 9-12, characterized in that, The type of the first scattering point set is a fifth type, and the fifth type is associated with at least one sensing accuracy determination manner, and the at least one sensing accuracy determination manner includes the determination manner of the first sensing accuracy.

14. The method according to any one of claims 9-13, characterized in that, The type of the first scattering point set is indicated by a type value of the first scattering point set, and the type of the first sensing accuracy is indicated by a type value of the first sensing accuracy. The correspondence between the type value of the first set of scattering points and the type value of the first perception accuracy is included in the following table: When the type value of the first scattering point set is 0, the type value of the first sensing accuracy includes at least one of 0, 1, 2, 3, 4, 5, and 6. When the type value of the first scattering point set is 1, the type value of the first sensing accuracy includes at least one of 0, 1, 2, 3, 4, 5, 6, and 7. When the type value of the first scattering point set is 2, the type value of the first sensing accuracy includes at least one of 0, 1, 3, 4, 5, and 6. When the type value of the first scattering point set is 3, the type value of the first sensing accuracy includes at least one of 0, 1, 3, 4, 5, and 6.

15. The method according to any one of claims 8-14, characterized in that, The method further includes: obtaining a type of a second scattering point set and a sensing result of the second scattering point set, the second scattering point set including at least one scattering point of a second scatterer, the sensing result of the second scattering point set indicating that a number of scattering points of the second scattering point set increases and a duration is greater than a first threshold value; updating the type of the second scattering point set according to the sensing result of the second scattering point set; sending a first parameter, the first parameter indicating the updated type.

16. The method according to any one of claims 8-15, characterized in that, The method further includes: obtaining a sensing result of a third scattering point set, the third scattering point set including at least one scattering point of a third scatterer, the sensing result of the third scattering point set indicating that a number of scattering points of the third scattering point set does not increase and a duration is greater than a second threshold value; deleting the third scattering point set according to the sensing result of the third scattering point set.

17. A communications device, characterized by The communication device includes: a transceiver module configured to receive a first sensing accuracy, the first sensing accuracy indicating a deviation between a measurement position of a first scattering point and a first position, the first position being determined according to a first scattering point set, the first scattering point set including at least one scattering point of a first scatterer, the at least one scattering point including the first scattering point; a processing module configured to perform sensing according to the first sensing accuracy.

18. The apparatus of claim 17, wherein, The transceiver module is further configured to receive at least one of an index of the first scattering point set, a type of the first scattering point set, or a type of the first sensing accuracy. The type of the first scattering point set is used to represent at least one of a duration of presence of the first scatterer in a sensing area or a moving speed of the first scatterer, and the type of the first sensing accuracy is used to represent a determination manner of the first sensing accuracy.

19. The apparatus of claim 18, wherein, The type of the first scattering point set includes one of a first type or a second type. The first type is used to represent that the first scatterer has a presence duration in the perception area less than or equal to a first threshold, and the second type is used to represent that the first scatterer has a presence duration in the perception area greater than or equal to a second threshold. Alternatively, the first type is used to represent that the first scatterer is a temporary target in the perception area, and the second type is used to represent that the first scatterer is an anchor target in the perception area.

20. The apparatus of claim 18 or 19, wherein, The type of the first scatter point set includes one of a third type or a fourth type. The third type is used to represent that the first scatterer has a moving speed in the perception area less than or equal to a third threshold, and the fourth type is used to represent that the first scatterer has a moving speed in the perception area greater than or equal to a fourth threshold. Alternatively, the third type is used to represent that the first scatterer is a stationary target in the perception area, and the fourth type is used to represent that the first scatterer is a moving target in the perception area.

21. The apparatus of any one of claims 18-20, wherein, The type of the first scatter point set is indicated by a type value of the first scatter point set. The correspondence between the type value of the first set of scatter points and the first scatterer is included in the following table: When the type value of the first scatter point set is 0, the first scatterer is a stationary anchor target in the perception area. Alternatively, when the type value of the first scatter point set is 1, the first scatterer is a moving anchor target in the perception area. Alternatively, when the type value of the first scatter point set is 2, the first scatterer is a stationary temporary target in the perception area. Alternatively, when the type value of the first scatter point set is 3, the first scatterer is a moving temporary target in the perception area.

22. The apparatus of any one of claims 18-21, wherein, The type of the first scatter point set is a fifth type, and the fifth type is associated with at least one perception accuracy determination manner, and the at least one perception accuracy determination manner includes a determination manner of the first perception accuracy.

23. The apparatus of any one of claims 18-22, wherein, The type of the first scatter point set is indicated by a type value of the first scatter point set, and the type of the first perception accuracy is indicated by a type value of the first perception accuracy. The correspondence between the type value of the first set of scattering points and the type value of the first perception accuracy is included in the following table: When the type value of the first scatter point set is 0, the type value of the first perception accuracy includes at least one of 0, 1, 2, 3, 4, 5, and 6. Alternatively, when the type value of the first scatter point set is 1, the type value of the first perception accuracy includes at least one of 0, 1, 2, 3, 4, 5, 6, and 7. Alternatively, when the type value of the first scatter point set is 2, the type value of the first perception accuracy includes at least one of 0, 1, 3, 4, 5, and 6. Alternatively, when the type value of the first scatter point set is 3, the type value of the first perception accuracy includes at least one of 0, 1, 3, 4, 5, 6, and 7.

24. A communications device, characterized by The communication device includes: a processing module configured to determine a first perception accuracy, the first perception accuracy indicating a deviation between a measured position of a first scatter point and a first position, the first position being determined according to a first scatter point set, the first scatter point set including at least one scatter point of a first scatterer, the at least one scatter point including the first scatter point; a transceiver module configured to transmit the first perception accuracy.

25. The apparatus of claim 24, wherein, The transceiving module is further configured to send at least one of an index of the first set of scattering points, a type of the first set of scattering points, or a type of the first perception accuracy. The type of the first set of scattering points is used to represent at least one of a duration of existence of the first scatterer in a perception area or a moving speed of the first scatterer, and the type of the first perception accuracy is used to represent a determination manner of the first perception accuracy.

26. The apparatus of claim 25, wherein, The type of the first set of scattering points comprises one of a first type or a second type. The first type is used to represent that the duration of existence of the first scatterer in the perception area is less than or equal to a first threshold, and the second type is used to represent that the duration of existence of the first scatterer in the perception area is greater than or equal to a second threshold. Alternatively, the first type is used to represent that the first scatterer is a temporary target in the perception area, and the second type is used to represent that the first scatterer is an anchor target in the perception area.

27. The apparatus of claim 25 or 26, wherein, The type of the first set of scattering points comprises one of a third type or a fourth type. The third type is used to represent that the moving speed of the first scatterer in the perception area is less than or equal to a third threshold, and the fourth type is used to represent that the moving speed of the first scatterer in the perception area is greater than or equal to a fourth threshold. Alternatively, the third type is used to represent that the first scatterer is a stationary target in the perception area, and the fourth type is used to represent that the first scatterer is a moving target in the perception area.

28. The apparatus of any one of claims 25-27, wherein, The type of the first set of scattering points is indicated by a type value of the first set of scattering points. The correspondence between the type value of the first set of scatter points and the first scatterer is included in the following table: When the type value of the first set of scattering points is 0, the first scatterer is a stationary anchor target in the perception area. Alternatively, when the type value of the first set of scattering points is 1, the first scatterer is a moving anchor target in the perception area. Alternatively, when the type value of the first set of scattering points is 2, the first scatterer is a stationary temporary target in the perception area. Alternatively, when the type value of the first set of scattering points is 3, the first scatterer is a moving temporary target in the perception area.

29. The apparatus of any one of claims 25-28, wherein, The type of the first set of scattering points is a fifth type, and the fifth type is associated with at least one determination manner of perception accuracy, which comprises the determination manner of the first perception accuracy.

30. The apparatus of any one of claims 25-29, wherein, The type of the first set of scattering points is indicated by a type value of the first set of scattering points, and the type of the first perception accuracy is indicated by a type value of the first perception accuracy. The correspondence between the type value of the first set of scattering points and the type value of the first perception accuracy is included in the following table: When the type value of the first set of scattering points is 0, the type value of the first perception accuracy comprises at least one of 0, 1, 2, 3, 4, 5, and 6. Alternatively, when the type value of the first set of scattering points is 1, the type value of the first perception accuracy comprises at least one of 0, 1, 2, 3, 4, 5, 6, and 7. Alternatively, when the type value of the first set of scattering points is 2, the type value of the first perception accuracy comprises at least one of 0, 1, 3, 4, 5, and 6. Alternatively, when the type value of the first scattering point set is 3, the type value of the first perception accuracy includes at least one of 0, 1, 3, 4, 5, 6, and 7.

31. The apparatus of any one of claims 24-30, wherein, the processing module is further configured to obtain a type of a second scattering point set and a perception result of the second scattering point set, the second scattering point set including at least one scattering point of a second scatterer, the perception result of the second scattering point set indicating that a number of scattering points of the second scattering point set increases and a duration is greater than a first threshold value; the processing module is further configured to update the type of the second scattering point set according to the perception result of the second scattering point set; the transceiver is further configured to transmit a first parameter, the first parameter indicating the updated type.

32. The apparatus of any one of claims 24-31, wherein, the processing module is further configured to obtain a perception result of a third scattering point set, the third scattering point set including at least one scattering point of a third scatterer, the perception result of the third scattering point set indicating that a number of scattering points of the third scattering point set does not increase and a duration is greater than a second threshold value; the processing module is further configured to delete the third scattering point set according to the perception result of the third scattering point set.

33. A communications device, characterized by The communication apparatus includes a processor; the processor is configured to run computer programs or instructions to cause the communication apparatus to perform the method of any one of claims 1-7, or to cause the communication apparatus to perform the method of any one of claims 8-16.

34. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions or programs, when the computer instructions or programs are run on a computer, causing the method of any one of claims 1-7 to be performed, or causing the method of any one of claims 8-16 to be performed.

35. A computer program product, characterised in that, The computer program product includes computer instructions; when part or all of the computer instructions are run on a computer, causing the method of any one of claims 1-7 to be performed, or causing the method of any one of claims 8-16 to be performed.

36. A chip, comprising: including: a memory configured to store computer program instructions; a processor configured to execute the computer program instructions, causing the method of any one of claims 1-7 to be performed, or the method of any one of claims 8-16 to be performed.

Images