Data transmission method and related apparatus

Abstract

A data transmission method and a related apparatus, which are used for a terminal device to convert second sensing data into first sensing data on the basis of first information, and send the first sensing data to an access network device. Therefore, the access network device can fuse sensing data of the terminal device conveniently, and higher-precision sensing is realized. The method comprises: receiving first information from an access network device or a sensing network element, wherein the first information is used for determining a first coordinate position of a sensing target of a terminal device; and sending first sensing data to the access network device, wherein the first sensing data comprises the first coordinate position of each sensing target among at least one sensing target of the terminal device, the first sensing data is determined on the basis of second sensing data and the first information, and the second sensing data comprises a second coordinate position of each sensing target among the at least one sensing target.

Description

Data transmission method and related apparatus

[0001] The present application claims priority to the Chinese Patent Application No. 202410650452.8, filed on May 23, 2024, and entitled “Data transmission method and related 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 data transmission method and related apparatus. BACKGROUND

[0003] Wireless communication and sensing fusion is one of the key technologies of the 5th generation (5G) mobile communication, which can be widely applied in typical application scenarios such as intelligent transportation, intelligent low-altitude, and intelligent network. Wireless communication and sensing fusion realizes unified design of communication function and sensing function through signal joint design and hardware sharing. Sensing in wireless communication and sensing fusion can be understood as wireless sensing technology based on a communication system. For example, a base station transmits a wireless signal to a target object and receives a reflected echo signal of the target object. The base station obtains corresponding sensing measurement quantities by analyzing the echo signal, such as the number, position, and moving speed of the target object, and identity recognition of the target object.

[0004] Currently, there are mainly two sensing scenarios, specifically, a per-area sensing scenario and a per-object sensing scenario. The per-area sensing scenario is introduced as follows. A sensing network element can receive a sensing request. The sensing request includes area information or position information of a target sensing area. The sensing network element can select a corresponding terminal device, and the terminal device can jointly implement a sensing process with a base station or other terminal devices. In the terminal device-assisted sensing scenario, the base station can fuse sensing data reported by multiple terminal devices, thereby realizing higher-precision sensing.

[0005] However, in general, the base station needs to obtain the position information of the terminal device, so as to help the base station fuse the sensing data reported by multiple terminal devices. However, the position information of the terminal device is sensitive data, which is generally not provided to the base station. Therefore, how the base station realizes fusion of the sensing data is a problem worth considering. SUMMARY

[0006] The present application provides a data transmission method and related apparatus, for a terminal device to convert second sensing data into first sensing data according to first information, and to send the first sensing data to an access network device. Thereby, the access network device can fuse the sensing data of the terminal device, and realize higher-precision sensing.

[0007] The first aspect of the present application provides a data transmission method, which can be used on the terminal side, for example, executed by a terminal device. The terminal device can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, chip system, module, control unit, circuit, or processor in the foregoing devices or apparatus, and the specific embodiments of the present application are not limited. It should be noted that in the present application, when referring to a terminal device, it can refer to the terminal device itself, or the chip, functional module, integrated circuit, or processor in the terminal device that completes the method provided by the present application, and the specific embodiments of the present application are not limited. In the first aspect and its possible implementation manners, the method is described by taking the terminal device as an example. The method comprises: receiving, by a terminal device, first information from an access network device or a sensing network element, the first information being used to determine a first coordinate position of a sensing target of the terminal device; and sending, by the terminal device, first sensing data to the access network device, the first sensing data comprising the first coordinate position of each sensing target in at least one sensing target of the terminal device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising a second coordinate position of each sensing target in the at least one sensing target.

[0008] In the above technical solution, the first sensing data is obtained by converting the second sensing data according to the first information, and the terminal device sends the first sensing data to the access network device. Thus, the coordinate positions in the sensing data sensed by the terminal device are represented by the same coordinate system, thereby facilitating the access network device to fuse the sensing data of the terminal device and achieving higher-precision sensing. Further, the access network device cannot sense the position of the terminal device, thereby avoiding exposure of the position of the terminal device while achieving fusion of the sensing data.

[0009] Optionally, the first information can be alternatively described as: the first information is used to determine a first coordinate position of a point cloud sensed by the terminal device. Alternatively, the first information is used to determine a first coordinate position of a target object sensed by the terminal device.

[0010] Optionally, the first sensing data can be alternatively described as: the first sensing data comprises the first coordinate position of each point cloud in at least one point cloud sensed by the terminal device. The second sensing data can be alternatively described as: the second sensing data comprises the second coordinate position of each point cloud in the at least one point cloud sensed by the terminal device.

[0011] Optionally, the first sensing data can be alternatively described as: the first sensing data comprises the first coordinate position of each target object in at least one target object sensed by the terminal device. The second sensing data can be alternatively described as: the second sensing data comprises the second coordinate position of each target object in the at least one target object sensed by the terminal device.

[0012] In a possible implementation manner of the first aspect, the method further includes: determining, by the terminal device, the first perception data according to the first information and the second perception data. Thus, the conversion of the perception data is implemented, and the same coordinate system is used to represent the coordinate positions in the perception data perceived by different terminal devices.

[0013] In a possible implementation manner of the first aspect, the first information is coordinate conversion information, and the coordinate conversion information is used to convert the second coordinate positions of the perception targets in the at least one perception target into the first coordinate positions of the perception targets in the at least one perception target. In this implementation manner, a specific form of the first information is provided, so that the terminal device uses the corresponding coordinate system to represent the coordinate positions of the perception targets in the at least one perception target. Thus, the data fusion is facilitated.

[0014] In a possible implementation manner of the first aspect, the coordinate conversion information includes a translation matrix and / or a rotation matrix.

[0015] In a possible implementation manner of the first aspect, the first information is reference point information, and the reference point information is used to indicate a first reference point, and the first coordinate positions of the perception targets in the at least one perception target are the coordinate positions of the perception targets in the at least one perception target in a coordinate system established with the first reference point as an origin. In this implementation manner, another specific form of the first information is provided, and the implementation of the scheme is enriched. Thus, the terminal device uses the corresponding coordinate system to represent the coordinate positions of the perception targets in the at least one perception target, and the data fusion is facilitated.

[0016] In a possible implementation manner of the first aspect, the first information includes an identifier of the access network device. Thus, the terminal device is instructed to report the perception data to the access network device, and the access network device is facilitated to fuse the perception data.

[0017] In a possible implementation manner of the first aspect, the method further includes: sending, by the terminal device, a first request to the access network device or the perception network element, and the first request is used to request the first information. Thus, the terminal device actively requests the first information, and the terminal device is facilitated to request the first information when the terminal device needs to report the perception data, and to convert the coordinate positions of the data based on the first information.

[0018] The second aspect of the present application provides a data transmission method, which can be used in an access network device side or a sensing network element side. For example, the method is executed by an access network device or a sensing network element, which can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, a chip system, a module, a control unit, a circuit, or a processor in the foregoing devices or apparatus, without limitation. It should be noted that, in the present application, when referring to an access network device or a sensing network element, it can refer to the access network device or the sensing network element itself, or a chip, a functional module, an integrated circuit, or a processor in the access network device or the sensing network element that completes the method provided by the present application, without limitation. In the second aspect and possible implementation manners thereof, the method is described by taking an example of being executed by an access network device or a sensing network element. The method comprises: determining, by the access network device or the sensing network element, first information, the first information being used to determine a first coordinate position of a sensing target of a terminal device; and sending, by the access network device or the sensing network element, the first information to the terminal device. Thus, the terminal device can conveniently convert the coordinate position in the sensing data based on the first information, and the access network device can fuse the sensing data of the terminal device. Further, the access network device does not sense the position of the terminal device, thereby avoiding exposure of the position of the terminal device while fusing the sensing data. Optionally, the first information can be alternatively described as: the first information is used to determine a first coordinate position of a point cloud sensed by the terminal device; or the first information is used to determine a first coordinate position of a target object sensed by the terminal device.

[0019] Based on the second aspect, in a possible implementation manner, the method is applied to an access network device; the method further comprises: receiving, by the access network device, first sensing data from a terminal device, the first sensing data comprising a first coordinate position of each sensing target in at least one sensing target of the terminal device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising a second coordinate position of each sensing target in the at least one sensing target. Thus, the access network device can fuse the sensing data of the terminal device, and implement higher-precision sensing. Optionally, the first sensing data can be alternatively described as: the first sensing data comprises a first coordinate position of each point cloud in at least one point cloud sensed by the terminal device. The second sensing data can be alternatively described as: the second sensing data comprises a second coordinate position of each point cloud in the at least one point cloud sensed by the terminal device. Optionally, the first sensing data can be alternatively described as: the first sensing data comprises a first coordinate position of each target object in at least one target object sensed by the terminal device. The second sensing data can be alternatively described as: the second sensing data comprises a second coordinate position of each target object in the at least one target object sensed by the terminal device.

[0020] In a possible implementation manner of the second aspect, the first information is coordinate conversion information, and the coordinate conversion information is used to convert a second coordinate position of each of the at least one perception target into a first coordinate position of each of the at least one perception target. In this implementation manner, a specific form of the first information is provided, so that the terminal device expresses the coordinate position of each of the at least one perception target by using a corresponding coordinate system. This facilitates data fusion.

[0021] In a possible implementation manner of the second aspect, the coordinate conversion information includes a translation matrix, and / or a rotation matrix.

[0022] In a possible implementation manner of the second aspect, the first information is reference point information, and the reference point information is used to indicate a first reference point, and the first coordinate position of each of the at least one perception target is a coordinate position of each of the at least one perception target in a coordinate system established with the first reference point as an origin. In this implementation manner, another specific form of the first information is provided, which enriches the implementation of the scheme. Thus, the terminal device expresses the coordinate position of each of the at least one perception target by using a corresponding coordinate system, which facilitates data fusion.

[0023] In a possible implementation manner of the second aspect, the first information includes an identifier of the access network device. Thus, the terminal device is instructed to report the perception data to the access network device, which facilitates the access network device to fuse the perception data.

[0024] In a possible implementation manner of the second aspect, the method further includes: receiving, by the access network device or the perception network element, a first request from the terminal device, and the first request is used to request the first information. Thus, the terminal device actively requests the first information, which facilitates the terminal device to request the first information when the terminal device needs to report the perception data, and to convert the coordinate position of the data based on the first information.

[0025] The third aspect of the present application provides a data transmission method, which can be used on the terminal side, for example, executed by a terminal device. The terminal device can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, chip system, module, control unit, circuit or processor in the foregoing devices or apparatus, and the present application does not make any limitation. It should be noted that in the present application, when referring to a terminal device, it can refer to the terminal device itself, or a chip, functional module, integrated circuit or processor in the terminal device that completes the method provided by the present application, and the present application does not make any limitation. In the third aspect and its possible implementation manners, the method executed by the terminal device is taken as an example for description. The method comprises: determining, by the terminal device, first sensing data, wherein the first sensing data comprises first coordinate positions of each sensing target in at least one sensing target; and the first coordinate position of each sensing target in the at least one sensing target is the coordinate position of each sensing target in the at least one sensing target in a coordinate system established with a first reference point as the origin; and sending, by the terminal device, the first sensing data to an access network device. Therefore, the first coordinate position of each sensing target in the at least one sensing target is the coordinate position of each sensing target in the at least one sensing target in the coordinate system established with the first reference point as the origin, and the access network device does not sense the position of the terminal device. Thus, the position of the terminal device is avoided to be exposed. Further, the access network device can convert the first sensing data, so as to realize that the coordinate positions in the sensing data of different terminal devices are represented by the same coordinate system.

[0026] Based on the third aspect, in a possible implementation manner, the method further comprises: sending, by the terminal device, first reference point information to a sensing network element, wherein the first reference point information is used to indicate the coordinate position of the first reference point relative to the terminal device. The sensing network element provides coordinate conversion information or reference point information for the access network device, so that the access network device can convert the first sensing data, thereby realizing that the coordinate positions in the sensing data of different terminal devices are represented by the same coordinate system. This facilitates the fusion of sensing data.

[0027] The fourth aspect of the present application provides a data transmission method, which can be used in a sensing network element side, for example, executed by a sensing network element. The sensing network element can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, chip system, module, control unit, circuit or processor in the foregoing devices or apparatus, and the specific embodiments are not limited in the present application. It should be noted that in the present application, when referring to the sensing network element, it can refer to the terminal device itself, or the chip, functional module, integrated circuit or processor in the sensing network element that completes the method provided by the present application, and the specific embodiments are not limited in the present application. In the fourth aspect and its possible implementation manners, the method executed by the sensing network element is taken as an example for description. The method comprises: determining, by the sensing network element, first information according to a coordinate position of a first reference point relative to a terminal device, the first information being used to determine a second coordinate position of a sensing target of the terminal device, the second coordinate position of the sensing target being an absolute coordinate position of the sensing target; and sending, by the sensing network element, the first information to an access network device. This facilitates the access network device to convert the coordinate position in the sensing data based on the first information, and is beneficial to the fusion of the sensing data of the terminal device by the access network device. Further, the access network device does not sense the position of the terminal device, thereby realizing the fusion of the sensing data while avoiding exposure of the position of the terminal device. Optionally, the first information can be described as: the first information is used to determine a second coordinate position of a point cloud sensed by the terminal device. Alternatively, the first information is used to determine a second coordinate position of a target object sensed by the terminal device.

[0028] Based on the fourth aspect, in a possible implementation manner, the method further comprises: receiving, by the sensing network element, first reference point information from the terminal device, the first reference point information being used to indicate the coordinate position of the first reference point relative to the terminal device. Thus, the sensing network element determines the first information.

[0029] Based on the fourth aspect, in a possible implementation manner, the first information is coordinate conversion information, and the coordinate conversion information is used to convert a first coordinate position of the sensing target into a second coordinate position of the sensing target. In this implementation manner, a specific form of the first information is provided, thereby enabling the access network device to represent the coordinate positions of the sensing targets in the at least one sensing target of the terminal device by using a corresponding coordinate system. This facilitates the fusion of the data.

[0030] Based on the fourth aspect, in a possible implementation manner, the coordinate conversion information comprises at least one of: a translation matrix, and / or a rotation matrix.

[0031] In a possible implementation manner based on the fourth aspect, the first information is second reference point information, the second reference point information is used to indicate an absolute coordinate position of the first reference point, and the second coordinate position of each of the at least one perception target is an absolute coordinate position of each of the at least one perception target. In this implementation manner, another specific form of the first information is provided, and the implementation of the rich scheme is enriched. Thus, the access network device is enabled to represent the coordinate positions of each of the at least one perception target of the terminal device in a corresponding coordinate system. This facilitates the fusion of data.

[0032] The fifth aspect of the present application provides a data transmission method, which can be used on the side of an access network device. For example, the method is executed by an access network device, which can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, a chip system, a module, a control unit, a circuit or a processor in the foregoing devices or apparatus, without limitation of the present application. It should be noted that, in the present application, when referring to an access network device, the access network device itself can be referred to, or a chip, a functional module, an integrated circuit or a processor in the access network device that completes the method provided by the present application can be referred to, without limitation of the present application. In the fifth aspect and possible implementation manners thereof, the method is described by taking the method executed by an access network device as an example. The method comprises the following steps: the access network device receives first information from a perception network element, the first information being used to determine a second coordinate position of a perception target of a terminal device, the second coordinate position of the perception target being an absolute coordinate position of the perception target; the access network device receives first perception data from the terminal device, the first perception data comprising first coordinate positions of each of at least one perception target of the terminal device, the first coordinate positions of each of the at least one perception target being coordinate positions of each of the at least one perception target in a coordinate system established with a first reference point as an origin; and the access network device determines second perception data according to the first information and the first coordinate positions of each of the at least one perception target, the second perception data comprising second coordinate positions of each of the at least one perception target, the second coordinate positions of each of the at least one perception target being absolute coordinate positions of each of the at least one perception target. Thus, the access network device is facilitated to fuse the perception data of the terminal device, and to achieve higher-precision perception. Further, the access network device does not perceive the position of the terminal device, thereby avoiding exposure of the position of the terminal device while achieving fusion of the perception data.

[0033] In a possible implementation manner of the fifth aspect, the first information is coordinate conversion information, and the coordinate conversion information is used to convert the first coordinate position of each of the at least one perception target into the second coordinate position of each of the at least one perception target. In this implementation manner, a specific form of the first information is provided, so that the access network device represents the coordinate position of the at least one perception target by using the corresponding coordinate system. This facilitates data fusion.

[0034] In a possible implementation manner of the fifth aspect, the coordinate conversion information includes at least one of: a translation matrix, and / or, a rotation matrix.

[0035] In a possible implementation manner of the fifth aspect, the first information includes second reference point information, the second reference point information is used to indicate an absolute coordinate position of the first reference point, and the second coordinate position of each of the at least one perception target is an absolute coordinate position of each of the at least one perception target. In this implementation manner, another specific form of the first information is provided, which enriches the implementation of the scheme. So that the access network device represents the coordinate position of each of the at least one perception target by using the corresponding coordinate system. This facilitates data fusion.

[0036] The sixth aspect of the present application provides a communication device, the communication device comprising:

[0037] The transceiver is configured to: receive first information from the access network device or the perception network element, the first information being used to determine a first coordinate position of a perception target of the communication device; and send first perception data to the access network device, the first perception data including the first coordinate position of each of the at least one perception target of the communication device, the first perception data being determined according to second perception data and the first information, and the second perception data including the second coordinate position of each of the at least one perception target.

[0038] In a possible implementation manner of the sixth aspect, the communication device further includes a processing module, and the processing module is configured to determine the first perception data according to the first information and the second perception data.

[0039] In a possible implementation manner of the sixth aspect, the first information is coordinate conversion information, and the coordinate conversion information is used to convert the second coordinate position of each of the at least one perception target into the first coordinate position of each of the at least one perception target.

[0040] In a possible implementation manner of the sixth aspect, the coordinate conversion information includes a translation matrix, and / or, a rotation matrix.

[0041] In a possible implementation manner of the sixth aspect, the first information is reference point information, the reference point information is used to indicate a first reference point, and the first coordinate position of each of the at least one perception target is a coordinate position of each of the at least one perception target in a coordinate system established with the first reference point as an origin.

[0042] In a possible implementation manner of the sixth aspect, the first information includes an identifier of the access network device.

[0043] In a possible implementation manner of the sixth aspect, the transceiver is further configured to: send, to the access network device or the perception network element, a first request, the first request being used to request the first information.

[0044] The seventh aspect of the present application provides a communication apparatus, the communication apparatus comprising:

[0045] a processing module configured to determine first information, the first information being used to determine a first coordinate position of a perception target of a terminal device;

[0046] a transceiver configured to send the first information to the terminal device.

[0047] In a possible implementation manner of the seventh aspect, the communication apparatus is an access network device, and the transceiver is further configured to: receive first perception data from the terminal device, the first perception data including a first coordinate position of each of at least one perception target of the terminal device, the first perception data being determined according to second perception data and the first information, the second perception data including a second coordinate position of each of the at least one perception target.

[0048] In a possible implementation manner of the seventh aspect, the first information is coordinate conversion information, the coordinate conversion information being used to convert the second coordinate position of each of the at least one perception target into the first coordinate position of each of the at least one perception target.

[0049] In a possible implementation manner of the seventh aspect, the coordinate conversion information includes a translation matrix, and / or a rotation matrix.

[0050] In a possible implementation manner of the seventh aspect, the first information is reference point information, the reference point information is used to indicate a first reference point, and the first coordinate position of each of the at least one perception target is a coordinate position of each of the at least one perception target in a coordinate system established with the first reference point as an origin.

[0051] In a possible implementation manner of the seventh aspect, the first information includes an identifier of the access network device.

[0052] In a possible implementation manner based on the seventh aspect, the transceiver is further configured to receive a first request from the terminal device, where the first request is used to request the first information.

[0053] The eighth aspect of the present application provides a communication device, the communication device comprising:

[0054] a processing module configured to determine first perception data, where the first perception data comprises a first coordinate position of each of at least one perception target of the communication device, and the first coordinate position of each of the at least one perception target is a coordinate position of each of the at least one perception target in a coordinate system established with a first reference point as an origin;

[0055] a transceiver configured to send the first perception data to an access network device.

[0056] In a possible implementation manner based on the eighth aspect, the transceiver is further configured to send first reference point information to a perception network element, where the first reference point information is used to indicate a coordinate position of the first reference point relative to the terminal device.

[0057] The ninth aspect of the present application provides a communication device, the communication device comprising:

[0058] a processing module configured to determine first information according to a coordinate position of the first reference point relative to the terminal device, where the first information is used to determine a second coordinate position of a perception target of the terminal device, and the second coordinate position of the perception target is an absolute coordinate position of the perception target;

[0059] a transceiver configured to send the first information to an access network device.

[0060] In a possible implementation manner based on the ninth aspect, the transceiver is further configured to receive first reference point information from the terminal device, where the first reference point information is used to indicate the coordinate position of the first reference point relative to the terminal device.

[0061] In a possible implementation manner based on the ninth aspect, the first information is coordinate conversion information, and the coordinate conversion information is used to convert the first coordinate position of the perception target into the second coordinate position of the perception target.

[0062] In a possible implementation manner based on the ninth aspect, the coordinate conversion information comprises at least one of the following: a translation matrix, and / or, a rotation matrix.

[0063] In a possible implementation manner based on the ninth aspect, the first information is second reference point information, and the second reference point information is used to indicate an absolute coordinate position of the first reference point.

[0064] The tenth aspect of the present application provides a communication device, the communication device comprising:

[0065] a receiving module, configured to receive first information from the sensing network element, the first information being used to determine a second coordinate position of a sensing target of the terminal device, the second coordinate position of the sensing target being an absolute coordinate position of the sensing target; and receive first sensing data from the terminal device, the first sensing data comprising a first coordinate position of each sensing target of at least one sensing target of the terminal device, the first coordinate position of each sensing target of the at least one sensing target being a coordinate position of each sensing target of the at least one sensing target in a coordinate system established with a first reference point as an origin;

[0066] a processing module, configured to determine second sensing data according to the first information and the first coordinate position of each sensing target of the at least one sensing target, the second sensing data comprising a second coordinate position of each sensing target of the at least one sensing target, the second coordinate position of each sensing target of the at least one sensing target being an absolute coordinate position of each sensing target of the at least one sensing target.

[0067] In a possible implementation manner of the tenth aspect, the first information is coordinate conversion information, the coordinate conversion information being used to convert the first coordinate position of each sensing target of the at least one sensing target into the second coordinate position of each sensing target of the at least one sensing target.

[0068] In a possible implementation manner of the tenth aspect, the coordinate conversion information comprises at least one of a translation matrix and / or a rotation matrix.

[0069] In a possible implementation manner of the tenth aspect, the first information comprises second reference point information, the second reference point information being used to indicate an absolute coordinate position of the first reference point, and the second coordinate position of each sensing target of the at least one sensing target being an absolute coordinate position of each sensing target of the at least one sensing target.

[0070] The eleventh aspect of the present application provides a communication apparatus, which can be a terminal device, a module or unit (for example, a chip or a chip system or a circuit) corresponding to the method, operation, step or action described in the first aspect or the third aspect, or a communication apparatus capable of being used in matching with the terminal device.

[0071] The twelfth aspect of the present application provides a communication apparatus, which can be an access network device or a sensing network element, a module or unit (for example, a chip or a chip system or a circuit) corresponding to the method, operation, step or action described in the second aspect, the fourth aspect or the fifth aspect, or a communication apparatus capable of being used in matching with the access network device or the sensing network element.

[0072] The thirteenth aspect of the present application provides a communication device, comprising a processor configured to invoke a computer program or computer instructions in a memory, so that the processor is configured to perform any of the implementation manners of any of the first aspect to the fifth aspect.

[0073] Optionally, the communication device further comprises a transceiver, and the processor is configured to control the transceiver to perform any of the implementation manners of any of the first aspect to the fifth aspect.

[0074] Optionally, the processor is integrated with the memory.

[0075] The fourteenth aspect of the present application provides a computer program product comprising computer instructions, which, when executed on a computer, cause the computer to perform any of the implementation manners of any of the first aspect to the fifth aspect.

[0076] The fifteenth aspect of the present application provides a computer-readable storage medium comprising computer instructions, which, when executed on a computer, cause the computer to perform any of the implementation manners of any of the first aspect to the fifth aspect.

[0077] The sixteenth aspect of the present application provides a chip device, comprising a processor configured to invoke a computer program or computer instructions in a memory, so that the processor performs any of the implementation manners of any of the first aspect to the fifth aspect.

[0078] Optionally, the processor is coupled to the memory through an interface.

[0079] The seventeenth aspect of the present application provides a communication system, comprising the terminal device of the first aspect and the access network device or the sensing network element of the second aspect; or the communication system comprises the terminal device of the third aspect, the sensing network element of the fourth aspect and the access network device of the fifth aspect.

[0080] According to the technical solution, the terminal device receives first information from the access network device or the sensing network element, and the first information is used to determine the first coordinate position of the sensing target of the terminal device. Then, the terminal device sends first sensing data to the access network device. The first sensing data includes the first coordinate position of each sensing target in the at least one sensing target of the terminal device. The first sensing data is determined according to second sensing data and the first information, and the second sensing data includes the second coordinate position of each sensing target in the at least one sensing target. Thus, the terminal device combines the first information to convert the second sensing data into the first sensing data. Thus, the access network device can fuse the sensing data of the terminal device to achieve higher-precision sensing. Further, the access network device cannot sense the position of the terminal device, thereby avoiding exposure of the position of the terminal device while achieving fusion of the sensing data. BRIEF DESCRIPTION OF DRAWINGS

[0081] FIG. 1a is a schematic diagram of a scenario of base station side sensing according to an embodiment of the present application;

[0082] FIG. 1b is a schematic diagram of another scenario of base station side sensing according to an embodiment of the present application;

[0083] FIG. 1c is a schematic diagram of a scenario of terminal device assisted sensing according to an embodiment of the present application;

[0084] FIG. 1d is a schematic diagram of another scenario of terminal device assisted sensing according to an embodiment of the present application;

[0085] FIG. 1e is a schematic diagram of a scenario of terminal device side sensing according to an embodiment of the present application;

[0086] FIG. 1f is a schematic diagram of another scenario of terminal device side sensing according to an embodiment of the present application;

[0087] FIG. 2 is a schematic diagram of a communication system according to an embodiment of the present application;

[0088] FIG. 3 is another schematic diagram of a communication system according to an embodiment of the present application;

[0089] FIG. 4 is another schematic diagram of a communication system according to an embodiment of the present application;

[0090] FIG. 5 is a schematic diagram of an application architecture involving a radio access network intelligent controller (RIC) module in an open radio access network (ORAN) system according to an embodiment of the present application;

[0091] FIG. 6 is a schematic diagram of a structure of an access network device according to an embodiment of the present application;

[0092] FIG. 7A is a schematic diagram of coordinate position representation of at least one point cloud perceived by a terminal device in a coordinate system established with the terminal device as the origin according to an embodiment of the present application;

[0093] FIG. 7B is a schematic diagram of coordinate position representation of at least one point cloud perceived by a terminal device in a coordinate system established with a base station as the origin according to an embodiment of the present application;

[0094] FIG. 8 is a schematic diagram of an embodiment of a data transmission method according to an embodiment of the present application;

[0095] FIG. 9 is a schematic diagram of another embodiment of a data transmission method according to an embodiment of the present application;

[0096] FIG. 10 is a schematic diagram of a scenario of coordinate conversion according to an embodiment of the present application;

[0097] FIG. 11 is a schematic diagram of another scenario of coordinate conversion according to an embodiment of the present application;

[0098] FIG. 12 is a schematic diagram of a structure of a communication apparatus according to an embodiment of the present application;

[0099] FIG. 13 is a schematic diagram of another structure of a communication apparatus according to an embodiment of the present application;

[0100] FIG. 14 is a schematic diagram of still another structure of a communication apparatus according to an embodiment of the present application;

[0101] FIG. 15 is a schematic diagram of still another structure of a communication apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0102] The embodiments of the present application provide a data transmission method and related apparatus, for a terminal device to determine first perception data according to first information and second perception data, and send the first perception data to an access network device. Thus, the access network device can fuse the perception data of the terminal device, and achieve higher-precision perception. Further, the access network device will not perceive the location of the terminal device, thus avoiding exposing the location of the terminal device while achieving fusion of the perception data.

[0103] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.

[0104] The term "and / or" appearing in the present application can be a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present application generally represents that the front and rear associated objects are in an "or" relationship.

[0105] Wireless communication and perception fusion can be widely applied in typical application scenarios such as intelligent transportation, intelligent low altitude, and intelligent network. Wireless communication and perception fusion realizes unified design of communication function and perception function through signal joint design, hardware sharing and other means. The perception in wireless communication and perception fusion can be understood as wireless perception technology based on a communication system. For example, a base station transmits a wireless signal to a target object and receives a reflected echo signal reflected by the target object. The base station obtains corresponding perception measurement quantities by analyzing the echo signal. For example, the number, position, and moving speed of the target object, and identity recognition of the target object.

[0106] At present, there are mainly two perception scenarios, specifically a region-oriented perception scenario and a target-oriented perception scenario. The region-oriented perception is the perception of a certain region, such as a city low altitude, a road, a factory and the like. Typical application scenarios include: positioning and detecting whether an unmanned aerial vehicle invades a regulated range in a city low altitude, thereby realizing unmanned aerial vehicle intrusion detection facing a fixed region; detecting the moving path and moving speed of a vehicle in real time on a city road, and perceiving the running state of a highway; performing breathing detection, fitness monitoring, gesture or posture recognition and the like by perceiving channel changes; analyzing corresponding weather indicators and performing weather detection by using the relationship between signal attenuation in a communication link and weather indicators.

[0107] The perception method mainly includes base station side perception, terminal device assisted perception, and terminal device side perception, and can be specifically divided into six perception modes. The following introduces the six perception modes in combination with FIGS. 1a to 1f.

[0108] FIG. 1a is a schematic diagram of one scenario of base station side perception of an embodiment of the present application. As shown in FIG. 1a, an access network device transmits a perception reference signal. The perception reference signal is reflected by a target object to obtain a reflected signal (or called echo signal). The access network device receives the reflected signal and measures the reflected signal to obtain a perception measurement result. The access network device can send the perception measurement result to a perception network element.

[0109] Fig. 1b is a schematic diagram of another scenario of sensing at the base station side according to an embodiment of the present application. As shown in Fig. 1b, the access network device #1 transmits a sensing reference signal. The sensing reference signal is reflected by the target object to obtain a reflected signal. The access network device #2 receives the reflected signal and measures the reflected signal to obtain a sensing measurement result. The access network device #2 can send the sensing measurement result to the sensing network element.

[0110] Fig. 1c is a schematic diagram of a scenario of terminal device assisted sensing according to an embodiment of the present application. As shown in Fig. 1c, the access network device transmits a sensing reference signal. The sensing reference signal is reflected by the target object to obtain a reflected signal. The terminal device receives the reflected signal and measures the reflected signal to obtain a sensing measurement result. The terminal device can report the sensing measurement result to the sensing network element.

[0111] Fig. 1d is a schematic diagram of another scenario of terminal device assisted sensing according to an embodiment of the present application. As shown in Fig. 1d, the terminal device transmits a sensing reference signal. The sensing reference signal is reflected by the target object to obtain a reflected signal. The access network device receives the reflected signal and measures the reflected signal to obtain a sensing measurement result. The access network device can send the sensing measurement result to the sensing network element.

[0112] Fig. 1e is a schematic diagram of a scenario of sensing at the terminal device side according to an embodiment of the present application. As shown in Fig. 1e, the terminal device transmits a sensing reference signal. The sensing reference signal is reflected by the target object to obtain a reflected signal. The terminal device receives the reflected signal and measures the reflected signal to obtain a sensing measurement result. The terminal device can report the sensing measurement result to the sensing network element.

[0113] Fig. 1f is a schematic diagram of another scenario of sensing at the terminal device side according to an embodiment of the present application. As shown in Fig. 1f, the terminal device #1 transmits a sensing reference signal. The sensing reference signal is reflected by the target object to obtain a reflected signal. The terminal device #2 receives the reflected signal and measures the reflected signal to obtain a sensing measurement result. The terminal device #2 can report the sensing measurement result to the sensing network element.

[0114] The present application is applicable to the scenarios of terminal device assisted sensing shown in Figs. 1c-1f. It should be noted that Figs. 1c-1f are only some example scenarios, and the present application is not limited to the scenarios of terminal device assisted sensing. As long as the sensing involves the terminal device, it belongs to the application scenarios to which the present application is applicable, and the present application is not limited in this regard.

[0115] Some possible communication systems to which the present application is applicable will be introduced below. It should be understood that the present application is still applicable to other communication systems, and the present application is not limited in this regard.

[0116] FIG. 2 is a schematic diagram of a communication system according to an embodiment of the present application. Referring to FIG. 2, the communication system includes a terminal device 201, a next generation node B (gNB) 202, a next generation evolved node B (ng-eNB) 203, an access and mobility management function (AMF) 204, a user plane function (UPF) 205, and a sensing function (SF) 206.

[0117] The SF 206 shown in FIG. 2 is an implementation example in which the user plane and the control plane are separated. In actual applications, the user plane and the control plane of the SF 206 can also be not separated, which is not limited in the present application.

[0118] It should be noted that the access and mobility management function 204 and the user plane function 205 are optional, and the gNB 202 and the ng-eNB 203 can be connected with the SF 206.

[0119] The terminal device 201 communicates with an access network device (such as the gNB 202 or the ng-eNB 203 in FIG. 2) through a Uu interface. The ng-eNB 203 is an access network device in a long term evolution (LTE) communication system, and the gNB 202 is an access network device in a new radio (NR) communication system. In the communication system, the access network devices communicate with each other through an Xn interface, and the access network devices and the AMF 204 communicate with each other through an NG-C interface. The access network devices and the UPF 205 communicate with each other through an NG-U interface. The UPF 205 is connected with the user plane of the SF 206, and the AMF 204 is connected with the control plane of the SF 206. Optionally, the access network devices realize communication with the SF-U through the UPF 205, and realize communication with the SF-C through the AMF 204.

[0120] The access network device (such as the gNB 202 or the ng-eNB 203 in FIG. 2) is a device deployed in a wireless access network to provide wireless communication functions for the terminal device. The AMF 204 is used to be responsible for the mobility management in the mobile network, such as the location update of the terminal device, the registration network of the terminal device, the handover of the terminal device, and the like. The UPF 205 is used to be responsible for the forwarding and receiving of data in the terminal device. The SF 206 is used to provide sensing related functions. For example, management of sensing nodes, coordination of sensing resources, processing of sensing measurement quantities, opening of sensing results, and the like.

[0121] It should be noted that the access network device in the communication system shown in FIG. 2 can also be directly connected with the SF 206, that is, it does not need to communicate with the SF 206 through the UPF 205 and the AMF 204. Optionally, the SF 206 belongs to the core network.

[0122] Optionally, the communication system further includes a location management function (LMF), which is a network element, module or component in the NR core network that provides a positioning function entity for the terminal device. Optionally, the SF 206 can be co-located with the location management function, or can be deployed separately, which is not limited in the present application.

[0123] It should be noted that in the communication system shown in FIG. 2, the name of the AMF 204 is only an example. The name of the AMF 204 can change as the communication system evolves. As long as other functional network elements with similar functions to the AMF 204 have other names, they can be understood as the AMF 204 of the present application. For example, the AMF 204 can also be referred to as a mobile management network element, or a mobile management function, etc., which is not limited in the present application. The name of the UPF 205 can change as the communication system evolves, as long as other functional network elements with similar functions to the UPF 205 have other names, they can be understood as the UPF 205 of the present application. For example, the UPF 205 can also be referred to as a user plane network element, or a user plane management network element, etc., which is not limited in the present application. The name of the SF 206 can change as the communication system evolves, as long as other functional network elements with similar functions to the SF 206 have other names, they can be understood as the SF 206 of the present application. For example, the SF 206 can also be referred to as a perception node, a perception management node, or a perception management function, etc., which is not limited in the present application.

[0124] The above FIG. 2 only shows an example in which the communication system includes two access network devices of gNB and ng-eNB. In actual applications, the communication system can include at least one access network device, which is not limited in the present application.

[0125] FIG. 3 is another schematic diagram of a communication system according to an embodiment of the present application. As shown in FIG. 3, the communication system includes a terminal device 301, an access network device 302, an access network device 303, and a sensing control (SC) 304. The access network device 301 communicates with the access network device 302 over an Xn interface. The SC 304 is connected to the access network device 302 and the access network device 303 over an interface, respectively. The access network device 302 and the access network device 303 can also be connected to different SCs, respectively. Optionally, the communication system further includes an SF 305. When the communication system includes the SF 305, the SF 305 is connected to the SC 304, optionally. The SF 305 shown in FIG. 3 is taken as an example in which the user plane and the control plane are not separated. In actual applications, the user plane and the control plane of the SF 305 can also be separated, for example, the SC 304 includes a sensing control-control (SC-C) and a sensing control-user (SC-U), and the SF 305 includes a sensing function-control (SF-C) and a sensing function-user (SF-U). The SC-C is connected to the SF-C, and the SC-U is connected to the SF-U. Alternatively, only the SC-C and the SF-C are connected, which is not limited in the present application. Optionally, the SC-C can be replaced by a sensing control-control plane (SC-CP), and the SC-U can be replaced by a sensing control-user plane (SC-UP).

[0126] The SC-C can be used for sensing node management, coordination of sensing resources in a region, and / or receiving sensing requests from an application function network element, etc. The SC-U can be used for processing, forwarding, and / or receiving of sensing measurement results. For example, the processing of the sensing measurement results includes fusion of the sensing measurement results.

[0127] The SF-C is used for management of sensing nodes, coordination of sensing resources, and / or opening of sensing results. The SF-U is used for processing, forwarding, and / or receiving of sensing measurement results. For example, the processing of the sensing measurement results includes fusion of the sensing measurement results.

[0128] It should be noted that, in the communication system shown in FIG. 3, the SC 304 is directly connected to the SF 305. The SC 304 can also be connected to the SF 305 through a UPF and an AMF, which is not limited in the present application. Optionally, the SC 304 can be deployed in an access network.

[0129] FIG. 4 is another schematic diagram of a communication system according to an embodiment of the present application. As shown in FIG. 4, the communication system includes a terminal device 401, an access network device 402, an access network device 403, a UPF 404, and an AMF 405. The access network device 402 and the access network device 403 communicate with each other through an Xn interface. The SC is deployed or integrated on the access network device 402. The access network device 402 is connected with the UPF 404 through an NG-U interface, and the access network device 402 is connected with the AMF 405 through an NG-C interface. The access network device 403 is connected with the UPF 404 through an NG-U interface, and the access network device 403 is connected with the AMF 405 through an NG-C interface. Optionally, the communication system further includes an SF 406. The access network device 402 is connected with the SF 406 through the UPF 404 and the AMF 405.

[0130] The SF 406 shown in FIG. 4 is taken as an example to introduce the sensing function in a separated implementation manner of user plane and control plane. In actual application, the user plane and the control plane of the SF 406 can also be not separated, and the present application does not make any limitation in this aspect.

[0131] It should be noted that when the access network device 402 adopts the separated architecture of CU and DU, the SC can be deployed or integrated on the CU or the DU, and the present application does not make any limitation in this aspect.

[0132] It should be noted that the present application does not make any limitation on the name of the SF involved in the communication system shown in FIGS. 2 to 4, for example, it can also be referred to as a sensing network element, a sensing requirement network element, a sensing management network element, or a sensing function entity, and the present application does not make any limitation in this aspect. The present application does not make any limitation on the name of the SC involved in the communication system shown in FIGS. 3 and 4. For example, it can also be referred to as a control network element, an edge sensing function network element, an edge control network element, or an edge control node, and the present application does not make any limitation in this aspect.

[0133] The SF can be a network element in the core network that provides sensing-related functions. The functions of the SF include management of sensing nodes, coordination of sensing resources, processing of sensing measurement quantities, opening of sensing results, and the like, i.e., functions related to sensing. The SC can be a network element in the access network that provides sensing-related functions. The SC can have functions related to sensing, for example, the SC receives sensing requirements from the SF; manages sensing nodes; coordinates sensing resources within a region; processes sensing measurement results; or receives sensing requests from an application function network element, and the like.

[0134] The technical solutions of the present application can be applied to a cellular communication system related to the 3rd generation partnership project (3GPP). For example, a fourth generation (4G) communication system, a fifth generation (5G) communication system, a future communication system after the fifth generation communication system. For example, the fourth generation communication system can include a long term evolution (LTE) communication system, an LTE frequency division duplex (FDD) system, or an LTE time division duplex (TDD) system. The fifth generation communication system can include a new radio (NR) communication system. The technical solutions of the present application can also be applied to a wireless fidelity (WiFi) system, a communication system supporting multiple wireless technology fusion, a device-to-device (D2D) system, an Internet of Things communication system, an industrial Internet communication system, a vehicle to everything (V2X) communication system, or a satellite communication system, etc.

[0135] The terminal device, the access network device and the sensing network element related to the present application are introduced as follows.

[0136] A terminal device, also referred to as a user equipment (UE), a mobile station (MS), a mobile terminal (MT), a customer premise equipment (CPE), etc. A terminal device is a device that includes a wireless communication function (providing voice / data connectivity to a user). For example, a handheld device with wireless connectivity, in-vehicle device, machine type communication (MTC) terminal, etc. Currently, a terminal device can include a mobile phone, a tablet computer, a notebook computer, a palm computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, or a wireless terminal in smart home, etc. For example, a wireless terminal in self driving can be a drone, a helicopter, or an airplane, etc. For example, a wireless terminal in vehicle-to-everything (V2X) can be a vehicle-mounted device, a whole vehicle device, a vehicle-mounted module, a vehicle, or a ship, etc. A wireless terminal in industrial control can be a camera, a robot, or a mechanical arm, etc. A wireless terminal in smart home can be a television, an air conditioner, a sweeping machine, a sound box, or a set-top box, etc. A terminal device can also be a transport vehicle with a wireless communication function, a communication module, a road side unit (RSU) with terminal device function.

[0137] It should be noted that a terminal device can be a device or apparatus with a chip, or a device or apparatus integrated with a circuit, or a chip, a module, or a control unit in the above-mentioned devices or apparatus, and the specific application is not limited. For example, a chip can be a chip responsible for communication function in a terminal device, for example, a Modem chip, also known as a baseband chip, or a system on chip (SoC) chip or a system in package (SIP) chip containing a modem core.

[0138] An access network device is a device deployed in a wireless access network to provide wireless communication functions for terminal devices. The access network device can also be referred to as a radio access network (RAN) entity, an access node, a network node, a network device, or a communication apparatus, etc.

[0139] Specifically, the access network device can be an access network device for a 3rd generation partnership project (3GPP) related cellular system. For example, a fourth-generation (4G) mobile communication system, a 5G mobile communication system, or a 6G mobile communication system. The access network device can also be an access network device in an open RAN (O-RAN or ORAN) or a cloud radio access network (CRAN). Alternatively, the access network device can also be an access network device in a communication system obtained by fusing two or more of the above communication systems.

[0140] The access network device includes, but is not limited to, an evolved Node B (eNB), a radio network controller (RNC), a Node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (for example, a home evolved NodeB, or home Node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (WiFi) system, a macro base station, a micro base station, a wireless relay node, a donor node, a wireless controller in a CRAN scenario, a wireless backhaul node, a transmission point (TP), or a transmission and receiving point (TRP). The access network device can also be an access network device in a 5G mobile communication system. For example, a next generation NodeB (gNB), a TRP, a TP, or one or a group (including multiple antenna panels) of antenna panels of a base station in a new radio (NR) system, or a base station in a 5G mobile communication system. Alternatively, the access network device can also be a network node constituting a gNB or a transmission point. For example, a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can be included in the same network element. For example, a BBU. The RU can be included in a radio frequency device or a radio frequency unit. For example, in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). Alternatively, the access network device can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, in a V2X technology, the access network device can be a road side unit (RSU).

[0141] It should be noted that the CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU can also be referred to as an open centralized unit (O-CU) or an open CU, the DU can also be referred to as an open distributed unit (O-DU), the centralized unit control plane (CU-CP) can also be referred to as an open centralized unit control plane (O-CU-CP) or an open CU-CP, the centralized unit user plane (CU-UP) can also be referred to as an open centralized unit user plane (O-CU-UP) or an open CU-UP, and the RU can also be referred to as an open radio unit (O-RU). The specific application is not limited. Any one of the CU, CU-CP, CU-UP, DU and RU in the present application can be realized by a software module, a hardware module, or a combination of a software module and a hardware module.

[0142] Optionally, for network elements in the ORAN system, each network element can implement the protocol layer functions shown in Table 1 as follows.

[0143] Table 1

[0144] It should be noted that the access network device can be one network element or multiple network elements shown in Table 1 above, and the specific application is not limited.

[0145] It should be noted that Table 1 above is only an example. In actual applications, the protocol layer functions supported by each network element are not limited. For example, each network element can support more protocol layer functions, or the protocol layer functions supported by each network element can be configured in combination with the actual application. The specific application is not limited.

[0146] The architecture of the CU and the DU of the access network device will be introduced below. The access network device includes at least one CU and at least one DU. Optionally, the access network device also includes at least one RU.

[0147] The following is an example of an access network device including a CU and a DU. The CU has part of the function of the core network, and the CU can include a CU-CP and a CU-UP. The CU and the DU can be configured according to the protocol layer function of the wireless network they implement. For example, the CU is configured to implement the function of the PDCP layer and the protocol layer above (for example, the function of the RRC layer and / or the SDAP layer). The DU is configured to implement the function of the protocol layer below the PDCP layer (for example, the RLC layer, the MAC layer, and / or the PHY layer). For another example, the CU is configured to implement the function of the PDCP layer and the protocol layer above (for example, the RRC layer and / or the SDAP layer), and the DU is configured to implement the function of the protocol layer below the PDCP layer (for example, the RLC layer, the MAC layer, and / or the PHY layer, etc.).

[0148] When the CU includes a CU-CP and a CU-UP, the CU-CP is used to implement the control plane function of the CU, and the CU-UP is used to implement the user plane function of the CU. For example, when the CU is configured to implement the function of the PDCP layer, the RRC layer and the SDAP layer, the CU-CP is used to implement the function of the RRC layer and the control plane function of the PDCP layer, and the CU-UP is used to implement the function of the SDAP layer and the user plane function of the PDCP layer.

[0149] The CU-CP can interact with a network element in the core network for implementing the control plane function. The network element in the core network for implementing the control plane function can be an access and mobility function network element, for example, an AMF in a 5G mobile communication system. The AMF is used to be responsible for the mobility management in the mobile network, such as the location update of the terminal device, the registration network of the terminal device, the handover of the terminal device, etc. The CU-UP can interact with a network element in the core network for implementing the user plane function. The network element in the core network for implementing the user plane function, for example, a user function (user plane function, UPF) in a 5G mobile communication system, is used to be responsible for the forwarding and receiving of data in the terminal device.

[0150] The above configuration of the CU and the DU is only an example, and the CU and the DU can be configured to have functions as needed. For example, the CU or the DU can be configured to have more protocol layer functions, or the CU or the DU can be configured to have part of the processing function of the protocol layer. For example, part of the function of the RLC layer and the function of the protocol layer above the RLC layer are arranged in the CU, and the remaining function of the RLC layer and the function of the protocol layer below the RLC layer are arranged in the DU. For another example, the function of the CU or the DU can be divided according to the service type or other system requirements. For example, according to the delay, the function that needs to meet the requirement of shorter delay is arranged in the DU, and the function that does not need to meet the requirement of the delay is arranged in the CU.

[0151] The DU and the RU can cooperate to jointly implement the functions of the PHY layer. One DU can be connected with one or more RUs. The functions of the DU and the RU can be configured in various manners according to design. For example, the DU is configured to implement baseband functions, and the RU is configured to implement radio frequency functions. For another example, the DU is configured to implement high-layer functions in the PHY layer, and the RU is configured to implement low-layer functions in the PHY layer or implement the low-layer functions and radio frequency functions. The high-layer functions in the PHY layer can include a part of functions of the PHY layer that are closer to the MAC layer, and the low-layer functions in the PHY layer can include another part of functions of the PHY layer that are closer to the radio frequency side.

[0152] It should be noted that the access network device can be the device or apparatus shown above, or a component (for example, a chip), a module, or a unit in the device or apparatus shown above, and the specific application does not make any limitation.

[0153] Optionally, the RIC module is also involved under the ORAN architecture. As shown in FIG. 5, FIG. 5 is an application architecture diagram involving the RIC module under the ORAN architecture. As shown in FIG. 5, the communication system includes the RIC module, which is specifically divided into a near-real-time RIC (near-RT RIC) module and a non-real-time RIC (Non-RT RIC) module. The near-real-time RIC module is used for model training and inference. For example, the near-real-time RIC module is used for training an artificial intelligence (AI) model and performing inference using the AI model. The near-real-time RIC module can also obtain information for training or inferring the AI model from the access network node (for example, the CU, the CU-CP, the CU-UP, the DU, and / or the RU) and from the terminal device. Optionally, the near-real-time RIC module can deliver the result of training or inferring the AI model to the access network node and / or the terminal device. Optionally, the CU, the DU, and the RU can interact the result. For example, the near-real-time RIC delivers the result to the DU, and the DU sends the result to the RU, thereby realizing near-real-time intelligent management of the access network.

[0154] The non-near real-time RIC module is configured to perform AI model training and inference. For example, the non-near real-time RIC module is configured to train an AI model and perform inference using the AI model. The non-near real-time RIC module can obtain data from the access network node (e.g., CU, CU-CP, CU-UP, DU, and / or RU) and / or the terminal device, and perform AI model training or inference using the data as training data or inference data to obtain a corresponding result. Then, the non-near real-time RIC module delivers the result to the access network node and / or the terminal device. Optionally, the CU, DU, and / or RU can exchange the result. For example, the non-near real-time RIC module delivers the result to the DU, and the DU transmits the result to the RU.

[0155] It should be understood that the near real-time RIC module and the non-near real-time RIC module can be deployed as independent network elements or as part of other network devices. For example, the near real-time RIC module is deployed in the access network node. For example, the near real-time RIC module can be deployed in the CU and / or the DU, and the non-near real-time RIC module is deployed in the OAM, the cloud server, the core network device, or other network devices.

[0156] The following describes a structure of an access network device including a CU and a DU. FIG. 6 is a structure of an access network device according to an embodiment of the present application. Taking the access network device as an example, the gNB, please refer to FIG. 6, in the 5G communication system, the gNB is connected through the Xn interface, and the gNB is connected with the 5th generation mobile communication technology core network (5GC) through the NG interface. As shown in FIG. 6, the gNB1 and the gNB2 are connected through the Xn interface. The gNB1 is connected with the 5GC through the NG interface 1, and the gNB2 is connected with the 5GC through the NG interface 2.

[0157] The gNB can include a CU and a DU. That is, the functions of the base station are divided, and part of the functions of the base station are deployed in a gNB-CU, and the remaining functions are deployed in a gNB-DU. Multiple gNB-DUs share one gNB-CU, which can save costs and is easy to expand the network. For example, as shown in FIG. 6, the gNB1 includes a gNB-CU1, a gNB-DU1, and a gNB-DU2. The gNB-CU1 is connected with the gNB-DU1 through the F1 interface 1 and connected with the gNB-DU2 through the F1 interface 2. The structure of the gNB2 is similar to that of the gNB1, which will not be described one by one here.

[0158] The above-mentioned FIG. 6 is only an example, one gNB-CU can be connected with one or more gNB-DUs, which is not limited in the present application.

[0159] The split of the gNB-CU and the gNB-DU can be according to the protocol stack. For example, the RRC layer, the SDAP layer, and the PDCP layer correspond to the protocol stacks deployed in the gNB-CU, respectively. The radio link control (RLC) layer, the MAC layer, and the PHY layer correspond to the protocol stacks deployed in the gNB-DU, respectively. The gNB-CU and the gNB-DU are connected through the F1 interface. The above example is only for introducing the gNB-CU and the gNB-DU, and the protocol stacks deployed in the gNB-CU and the gNB-DU are not limited in the present application.

[0160] In the present application, in the solution in which the access network device adopts the CU and the DU structure, the gNB-CU is referred to as the CU, and the gNB-DU is referred to as the DU.

[0161] It should be noted that the CU and the DU are an implementation manner in which the access network device is divided into network units, and the functions contained in the CU and the DU can be divided according to evolution or requirements. The present application does not limit the functions contained in the CU and the DU, respectively. The names corresponding to the CU and the DU are also not limited in the present application.

[0162] The sensing network element can request the access network device or the terminal device to perform a sensing process, so as to realize sensing on the environment. In the present application, the sensing network element in the subsequent embodiments can be understood as the SF or the SC in the communication system shown in FIGS. 2 to 4. The name of the sensing network element can change with the evolution of the communication system. As long as other functional network elements with similar functions to the sensing network element have similar functions, they can be understood as the sensing network element in the present application. The name of the sensing network element is not limited. For example, the sensing network element can also be referred to as a sensing function network element, a first network element, a sensing function entity, a sensing measurement network element, or a sensing measurement entity. In the subsequent description, the sensing network element is mainly used to introduce the technical solutions of the present application.

[0163] In the terminal device assisted sensing scenario, the base station can fuse the sensing data reported by multiple terminal devices, so as to realize higher precision sensing. Sensing data fusion is an important problem in cooperative sensing or assisted sensing. For example, in the occlusion scenario, the terminal device participating in sensing can play a role in blind filling.

[0164] As shown in FIG. 7A, FIG. 7A is a schematic diagram of a coordinate system established with a terminal device as a coordinate origin. The terminal device perceives a plurality of point clouds, each of which corresponds to a coordinate position in the coordinate system shown in FIG. 7A, which is referred to as the coordinate position A of the at least one point cloud. The base station needs to fuse the coordinate positions of the point clouds obtained by the plurality of terminal devices, so the base station needs to transform the coordinate position A of the at least one point cloud of the terminal device. The base station uses the same coordinate system to represent the coordinate positions of the point clouds perceived by the plurality of terminal devices, which facilitates data fusion.

[0165] For FIG. 7A, the coordinate position of the point cloud S in the coordinate system shown in FIG. 7A can be represented as (x k , y k ), the distance of the point cloud S to the origin of the coordinate system is R k , and the angle of the point cloud S relative to the origin of the coordinate system is θ. Therefore, in the coordinate system shown in FIG. 7A, the coordinate position of the point cloud S is (x k , y k ). Wherein, x k =R k *cos(θ), y k =R k *sin(θ).

[0166] The base station uses the coordinate system shown in FIG. 7B, in which the coordinate position of the point cloud S is represented as (x kg , y kg ). Wherein, x kg =R k *cos(θ)+x UE , y kg =R k *sin(θ)+y UE . Wherein, (x UE , y UE ) is the coordinate position of the terminal device in the coordinate system shown in FIG. 7B. The base station represents the coordinate positions of the point clouds perceived by the plurality of terminal devices through the above-mentioned coordinate system shown in FIG. 7B. Facilitating the splicing of point clouds.

[0167] Therefore, the base station needs to obtain the position information of the terminal device to help the base station fuse the perception data reported by the plurality of terminal devices. However, the position information of the terminal device is sensitive data and is usually not provided to the base station. Therefore, how the base station fuses the perception data is a problem worth considering. The present application provides corresponding technical solutions, please refer to the related introduction of the embodiments below.

[0168] The technical solutions of the present application will be described below in conjunction with specific embodiments.

[0169] FIG. 8 is a schematic diagram of one embodiment of the data transmission method according to the present application. Referring to FIG. 8, the method comprises the following steps.

[0170] 801. The access network device or the sensing network element sends first information to the terminal device. Correspondingly, the terminal device receives the first information from the access network device or the sensing network element.

[0171] The first information is used to determine the first coordinate position of the sensing target of the terminal device.

[0172] Optionally, the sensing target of the terminal device is a sensing target sensed, detected, or identified by the terminal device. Specifically, the terminal device realizes detection of the sensing target by measuring a backhaul signal. The backhaul signal represents a sensing signal transmitted by a transmitter, which is reflected, scattered, refracted, or diffracted by a sensing target in the process of propagation, and then received by a receiver. For example, the sensing target of the terminal device can be a pedestrian, a vehicle, a drone, and / or a building object in the environment, etc.

[0173] In one possible implementation, the terminal device presents the sensed sensing target in the form of a point cloud, and therefore, the above-mentioned first information can be alternatively described as: the first information is used to determine the first coordinate position of the point cloud sensed by the terminal device. The point cloud can be understood as a set of points in the space between the terminal device and the access network device, or the point cloud can also be understood as one of the points in the set of points in the space between the terminal device and the access network device. Optionally, one target object can correspond to one or more points in the point cloud.

[0174] In another possible implementation, the terminal device presents the sensed sensing target in the form of a target object, and the above-mentioned first information can be alternatively described as: the first information is used to determine the first coordinate position of the target object sensed by the terminal device.

[0175] The following introduces two possible implementations of the first information. The present application is still applicable to other implementations, and the present application is not limited in particular.

[0176] Implementation 1: The first information is coordinate conversion information, and the coordinate conversion information is used to convert the second coordinate position of the sensing target of the terminal device into the first coordinate position of the sensing target.

[0177] Optionally, the coordinate conversion information comprises a translation matrix and / or a rotation matrix. The translation matrix is used to perform a translation operation on the second coordinate position of the sensing target of the terminal device, and the rotation matrix is used to perform a rotation operation on the second coordinate position of the sensing target of the terminal device.

[0178] In an implementation, the first information is reference point information, and the reference point information is used to indicate a first reference point. The first coordinate position of the sensing target of the terminal device is a coordinate position of the sensing target in a coordinate system established with the first reference point as an origin.

[0179] In a possible implementation, the reference point information includes relative position information of the first reference point relative to the terminal device. For example, a coordinate position of the first reference point relative to the terminal device.

[0180] In another possible implementation, the reference point information includes absolute position information of the first reference point. For example, a coordinate position of the first reference point in a world coordinate system can be understood as the absolute position of the first reference point.

[0181] Optionally, the first information includes an identifier of the access network device. Thus, the terminal device is instructed to feed back first sensing data to the access network device. For the first sensing data, refer to the relevant description below.

[0182] In a possible implementation, the multiple terminal devices provide corresponding coordinate system information to the sensing network element or the access network device, and the sensing network element or the access network device selects a coordinate system according to the coordinate system information provided by the multiple terminal devices and generates the first information. For example, the coordinate system information of the terminal device includes local coordinate system information adopted by the terminal device, or direction information of the terminal device, or orientation information of an antenna of the terminal device. In a scenario involving sensing data fusion of multiple terminal devices, the sensing network element can select a suitable coordinate system by comprehensively considering the coordinate system information provided by the multiple terminal devices. This facilitates the coordinate positions of the sensing targets sensed by the multiple terminal devices to be expressed in the same coordinate system, and facilitates the fusion of the sensing data.

[0183] In another possible implementation, the sensing network element obtains coordinate system information of the access network device from the access network device. The coordinate system information includes relevant information of a coordinate system adopted by the access network device. The sensing network element generates the first information according to the coordinate system information. Optionally, the coordinate system information of the access network device includes orientation information of an antenna of the access network device. Thus, the terminal device can determine a coordinate position of a sensing target sensed by the terminal device in a coordinate system adopted by the access network device. This facilitates the access network device to fuse the sensing data of multiple terminal devices.

[0184] Optionally, the embodiment shown in FIG. 8 further includes step 801a. Step 801a can be performed before step 801.

[0185] 801a. The terminal device sends a first request to the access network device or the sensing network element. Correspondingly, the access network device or the sensing network element receives the first request from the terminal device.

[0186] The first request is used to request the first information.

[0187] 802、The terminal device sends first perception data to the access network device. Correspondingly, the access network device receives the first perception data from the terminal device.

[0188] The first perception data includes first coordinate positions of each of the at least one perception target of the terminal device. The first perception data is determined according to second perception data and first information. The second perception data includes second coordinate positions of each of the at least one perception target. Optionally, the at least one perception target of the terminal device is a perception target perceived, detected, identified, or probed by the terminal device. The at least one perception target of the terminal device includes at least one of: a target object in an environment between the terminal device and the access network device, or at least one point cloud in a space between the terminal device and the access network device.

[0189] Specifically, the terminal device acquires second perception data. The terminal device obtains the second perception data by measuring a return signal. The second perception data includes second coordinate positions of each of the at least one perception target. The second coordinate positions of each of the at least one perception target are coordinate positions of each of the at least one perception target in a coordinate system adopted by the terminal device. The terminal device determines first coordinate positions of each of the at least one perception target according to the second coordinate positions of the at least one perception target and the first information. Then, the terminal device sends first perception data to the access network device, and the first perception data includes the first coordinate positions of each of the at least one perception target.

[0190] Optionally, the at least one perception target is presented by at least one point cloud, and the first perception data is replaced by: the first perception data includes first coordinate positions of each of the at least one point cloud perceived by the terminal device. Optionally, the first perception data includes at least one of: position information, Doppler information, speed information, distance information, and angle information of each of the at least one point cloud.

[0191] Optionally, the at least one perception target is presented by at least one target object, and the first perception data is replaced by: the first perception data includes first coordinate positions of each of the at least one target object perceived by the terminal device. Optionally, the first perception data further includes at least one of: a position, a moving speed, a type, a moving track, and a material of each of the at least one target object.

[0192] The determination process of the first perception data is described below in combination with an implementation manner of the first information.

[0193] Implementation manner 1: The first information is coordinate conversion information.

[0194] Optionally, the terminal device determines the first perception data according to the coordinate conversion information and the second perception data. Optionally, the coordinate conversion information comprises a translation vector, a translation matrix, and / or a rotation matrix. For example, the terminal device performs a translation operation on the second coordinate position of each of the at least one perception target according to the translation matrix to obtain the first coordinate position of each of the at least one perception target. For another example, the terminal device performs a rotation operation on the second coordinate position of each of the at least one perception target according to the rotation matrix to obtain the first coordinate position of each of the at least one perception target.

[0195] For example, the second perception data comprises the second coordinate position [X', Y', Z'] of the point cloud P, and the translation vector is T, and then the first coordinate position [X, Y, Z] of the point cloud P = T + [X', Y', Z'].

[0196] For another example, the second perception data comprises the second coordinate position [x, y, z] of the point cloud P, and the translation matrix is Then the first coordinate position [X, Y, Z] of the point cloud P = [x + Tx, y + Ty, z + Tz]. That is, the first coordinate position [X, Y, Z] of the point cloud P = [x + Tx, y + Ty, z + Tz].

[0197] For another example, the second perception data comprises the second coordinate position [x, y, z] of the point cloud P, and the rotation matrix is Then the first coordinate position [X, Y, Z] of the point cloud P = [x + Tx, y + Ty, z + Tz]. The rotation matrix R represents that the second coordinate position of the point cloud P is rotated around the z axis by γ, and γ belongs to the interval [0°, 180°], or the interval (0°, 180°], or the interval [0°, 180°), or the interval (0°, 180°).

[0198] It should be noted that the above translation matrix and rotation matrix are only some examples, and in actual application, the coordinate conversion can also be other forms or obtained by other space transformation, which is not limited in the present application.

[0199] In implementation manner 2, the first information is reference point information. The reference point information is used to indicate the first reference point.

[0200] Optionally, the terminal device determines the first perception data according to the reference point information and the second perception data. Specifically, the terminal device establishes a first coordinate system with the terminal device as the coordinate origin; the terminal device determines the coordinate positions of the perception targets in the first coordinate system, to obtain the second coordinate positions of the perception targets, i.e., the second perception data. In other words, the second coordinate positions of the perception targets are the coordinate positions of the perception targets represented by the local coordinate system of the terminal device. Then, after receiving the reference point information, the terminal device can determine the first coordinate positions of the perception targets, i.e., the first perception data, in combination with the second coordinate positions of the perception targets and a second coordinate system. The second coordinate system is a coordinate system established with the first reference point as the coordinate origin. The first coordinate positions of the perception targets are the coordinate positions of the perception targets in the second coordinate system. For example, as shown in FIG. 10, the terminal device can establish a coordinate system with the first reference point as the origin. In the schematic diagram shown in FIG. 10, the second coordinate positions of the point clouds obtained by the terminal device are known, and the terminal device can determine the first coordinate positions of the point clouds in the coordinate system established with the first reference point as the origin based on the second coordinate positions of the point clouds, i.e., obtain the first coordinate positions of the point clouds.

[0201] In a possible implementation, the reference point information includes relative position information of the first reference point relative to the terminal device. For example, the reference point information includes the coordinate position of the first reference point relative to the terminal device. Optionally, the second coordinate system is established according to the relative position information. For example, as shown in FIG. 10, the second coordinate position of the point cloud 1 is (-1, 0), the coordinate position of the first reference point relative to the terminal device is (1, 1), and the first coordinate position of the point cloud 1 is (-2, -1). It can be understood that the first coordinate position of the point cloud 1 is the coordinate position of the point cloud 1 in the coordinate system established with the first reference point as the origin.

[0202] In another possible implementation, the reference point information includes absolute position information of the first reference point. For example, the reference point information includes the coordinate position of the first reference point in a world coordinate system. The terminal device determines the coordinate position of the first reference point relative to the terminal device according to the absolute position information of the first reference point and the coordinate position of the terminal device. The second coordinate system is established according to the coordinate position of the first reference point relative to the terminal device.

[0203] The coordinate positions in the above examples are used to introduce the technical solutions of the present application by taking two-dimensional coordinate positions as an example. In actual applications, the coordinate positions of the present application can be three-dimensional coordinate positions, or four-dimensional coordinate positions, etc., and the dimension of the coordinate positions in the present application is not limited.

[0204] Therefore, if the coordinate system established by taking the first reference point shown in FIG. 10 as the coordinate origin is used to represent the coordinate positions of the point clouds perceived by the plurality of terminal devices, the access network device can implement splicing of the point cloud data perceived by the plurality of terminal devices. Optionally, the first reference point can be the access network device.

[0205] Optionally, the embodiment shown in FIG. 8 further includes steps 803 to 804, which can be executed after step 802.

[0206] 803. The access network device performs data fusion according to the first perception data to obtain fused perception data.

[0207] Optionally, the access network device receives perception data from more terminal devices. Then, the access network device performs data fusion on the perception data of the more terminal devices and the first perception data to obtain fused perception data. For example, for the coordinate positions of the same point cloud perceived by the plurality of terminal devices, the access network device can average the coordinate positions of the same point cloud perceived by the plurality of terminal devices. For the coordinate positions of different point clouds perceived by the plurality of terminal devices, the access network device can splice the coordinate positions of the different point clouds perceived by the plurality of terminal devices.

[0208] 804. The access network device sends the fused perception data to the perception network element. Correspondingly, the perception network element receives the fused perception data from the access network device.

[0209] After the perception network element obtains the fused perception data, the perception network element can perform a perception service based on the fused perception data. For example, the perception service can include one or more of presence monitoring service, imaging service of an environment or a target object, target identification service, environment perception, target positioning and tracking, or target imaging.

[0210] In the embodiments of the present application, the terminal device receives first information from the access network device or the sensing network element, and the first information is used to determine the first coordinate position of the sensing target of the terminal device. Then, the terminal device sends first sensing data to the access network device. The first sensing data includes the first coordinate position of each sensing target in the at least one sensing target of the terminal device. The first sensing data is determined according to the second sensing data and the first information, and the second sensing data includes the second coordinate position of each sensing target in the at least one sensing target. Thus, the terminal device combines the first information to convert the second sensing data into the first sensing data. Thus, it is convenient for the access network device to fuse the sensing data of the terminal device, and a higher-precision sensing is achieved. Further, the access network device cannot sense the position of the terminal device, so as to avoid exposing the position of the terminal device while achieving the fusion of the sensing data.

[0211] It should be noted that, in the present application, optionally, in the case where the access network device adopts the separated architecture of CU and DU, in the above step 802, the RU of the access network device receives the first sensing data from the terminal device. The RU sends the first sensing data to the CU of the access network device. Then, in the above step 803, the CU of the access network device performs the above steps 803 and 804.

[0212] FIG. 9 is another embodiment of the data transmission method according to the present application. As shown in FIG. 9, the method includes the following steps.

[0213] 901, the terminal device determines the first sensing data.

[0214] The first sensing data includes the first coordinate position of each sensing target in the at least one sensing target of the terminal device. The first coordinate position of each sensing target in the at least one sensing target is the coordinate position of each sensing target in the at least one sensing target in the coordinate system established with the first reference point as the origin. For example, as shown in FIG. 11, the terminal device establishes a coordinate system with the first reference point as the origin, and the terminal device senses a plurality of point clouds. The terminal device determines the coordinate position of each point cloud in the plurality of point clouds in the coordinate system established with the first reference point as the origin, i.e., obtains the first coordinate position of each sensing target in the at least one sensing target.

[0215] For the at least one sensing target of the terminal device, please refer to the relevant description in the foregoing, which will not be repeated here.

[0216] Optionally, the at least one sensing target is presented by at least one point cloud, and the above first sensing data is replaced by: the first sensing data includes the first coordinate position of each point cloud in the at least one point cloud sensed by the terminal device. Optionally, the first sensing data further includes at least one of Doppler information, speed information, distance information, and angle information of each point cloud in the at least one point cloud.

[0217] Optionally, the at least one perception target is presented by at least one target object, and the first perception data is described as: the first perception data includes the first coordinate position of each target object in the at least one target object perceived by the terminal device. Optionally, the first perception data further includes at least one of the motion speed, type, motion trajectory, and material of each target object in the at least one target object.

[0218] 902. The terminal device sends the first perception data to the access network device. Correspondingly, the access network device receives the first perception data from the terminal device.

[0219] 903. The perception network element determines the first information according to the coordinate position of the first reference point relative to the terminal device.

[0220] Two possible implementation manners of the first information are introduced below, and the present application is still applicable to other implementation manners, which are not limited in the present application.

[0221] Implementation manner 1: the first information is coordinate conversion information. The coordinate conversion information is used to convert the first coordinate position of the perception target of the terminal device into the second coordinate position of the perception target.

[0222] Optionally, the coordinate conversion information includes a translation matrix and / or a rotation matrix. The translation matrix is used to perform a translation operation on the first coordinate position of the perception target of the terminal device, and the rotation matrix is used to perform a rotation operation on the first coordinate position of the perception target of the terminal device.

[0223] Implementation manner 2: the first information is second reference point information, and the second reference point information is used to indicate the absolute coordinate position of the first reference point.

[0224] Optionally, the absolute coordinate position of the first reference point can be the coordinate position of the first reference point in the world coordinate system.

[0225] Specifically, the perception network element can determine the absolute coordinate position of the first reference point based on the coordinate position of the first reference point relative to the terminal device and the coordinate position of the terminal device. For example, as shown in FIG. 11, the coordinate position of the terminal device in the world coordinate system is known, and the coordinate position of the first reference point relative to the terminal device is also known, so the terminal device can determine the coordinate position of the first reference point in the world coordinate system. For example, the absolute coordinate position of the first reference point is (-1, -1).

[0226] Optionally, there is no fixed execution sequence between the aforementioned steps 901-902 and steps 903-904. Steps 903-904 can be executed first, then steps 901-902; or steps 901-902 can be executed first, then steps 903-904; or steps 903-904 and the aforementioned steps 901-902 can be executed simultaneously according to the situation, which is not limited in the present application.

[0227] Optionally, the embodiment shown in FIG. 9 further includes step 901a. Step 901a can be executed before step 903.

[0228] 901a. The terminal device sends first reference point information to the perception network element. Correspondingly, the perception network element receives the first reference point information from the terminal device.

[0229] The first reference point information is used to indicate the coordinate position of the first reference point relative to the terminal device. For example, as shown in FIG. 11, the terminal device provides the coordinate position of the first reference point relative to the terminal device to the perception network element.

[0230] Optionally, the terminal device can also send local coordinate system information and / or antenna orientation information of the terminal device to the perception network element.

[0231] Optionally, there is no fixed execution sequence between step 901a and steps 901-902. Step 901a can be executed first, then steps 901-902; or steps 901-902 can be executed first, then step 901a; or step 901a and steps 901-902 can be executed simultaneously according to the situation, which is not limited in the present application.

[0232] 904. The perception network element sends first information to the access network device. Correspondingly, the access network device receives the first information from the perception network element.

[0233] 905. The access network device determines second perception data according to the first information and the first perception data.

[0234] Step 905 is similar to the process of determining the first perception data by the terminal device in the foregoing embodiment shown in FIG. 8, and details can be referred to the related description of the process of determining the first perception data by the terminal device in the foregoing embodiment shown in FIG. 8, which will not be repeated here. For example, as shown in FIG. 11, the absolute coordinate position of the first reference point is (-1, -1), and the first coordinate position of the point cloud 1 is (-1, 0), so it can be known that the second coordinate position (i.e., the absolute coordinate position) of the point cloud 1 is (-2, -1). Therefore, it can be known that if the world coordinate system shown in FIG. 11 is used to represent the coordinate positions of the point clouds perceived by the plurality of terminal devices, the access network device can realize splicing of the point cloud data perceived by the plurality of terminal devices. Optionally, the first reference point can be the access network device.

[0235] It should be noted that the coordinate positions in the above examples are used as an example of two-dimensional coordinate positions to introduce the technical solutions of the present application. In actual application, the coordinate positions in the present application can be three-dimensional coordinate positions, or four-dimensional coordinate positions, etc., and the dimension of the coordinate positions in the present application is not limited.

[0236] Optionally, the embodiment shown in FIG. 9 further includes steps 906 to 907, and step 906 can be executed after step 905.

[0237] 906. The access network device performs data fusion according to the second perception data to obtain fused perception data.

[0238] 907. The access network device sends the fused perception data to the perception network element. Correspondingly, the perception network element receives the fused perception data from the access network device.

[0239] Steps 906 to 907 are similar to steps 803 to 804 in the foregoing embodiment shown in FIG. 8, and details can be referred to the related description of steps 803 to 804 in the foregoing embodiment shown in FIG. 8, which will not be repeated here.

[0240] Optionally, in the present application, under the separation architecture of the CU and the DU of the access network device, in the above step 902, the RU of the access network device receives the first perception data from the terminal device. The RU sends the first perception data to the DU of the access network device. In the above step 904, the CU of the access network device receives the first information from the perception network element, and the CU sends the first information to the DU. Then, the DU executes step 905 in the embodiment shown in FIG. 9. Then, the DU sends the second perception data to the CU, and the CU executes steps 906 to 907 in the embodiment shown in FIG. 9.

[0241] In the present application, optionally, in the case that the access network device adopts the separated architecture of CU and DU, in step 902, the RU of the access network device receives the first sensing data from the terminal device. The RU sends the first sensing data to the DU of the access network device. The DU sends the first sensing data to the CU of the access network device. The CU performs steps 904 to 907.

[0242] The communication apparatus related to the present application is described below.

[0243] FIG. 12 is a structural schematic diagram of the communication apparatus according to an embodiment of the present application. Referring to FIG. 12, the communication apparatus 1200 includes a transceiver module 1201. Optionally, the communication apparatus 1200 further includes a processing module 1202.

[0244] The communication apparatus 1200 includes a terminal device, or a component (for example, a chip), a module or a unit in the terminal device.

[0245] The communication apparatus 1200 can be used to perform all or some of the steps performed by the terminal device in the embodiment shown in FIG. 8, and details can be referred to the related description in the foregoing embodiment shown in FIG. 8.

[0246] The processing module 1202 is configured to perform data processing. The transceiver module 1201 is configured to implement corresponding communication functions.

[0247] Optionally, the transceiver module 1201 can include a sending module and a receiving module. The sending module is configured to perform the sending operations in the foregoing method embodiments. The receiving module is configured to perform the receiving operations in the foregoing method embodiments.

[0248] It should be noted that the communication apparatus 1200 can include the sending module and not include the receiving module. Alternatively, the communication apparatus 1200 can include the receiving module and not include the sending module. Specifically, whether the sending module and the receiving module are included in the communication apparatus 1200 can depend on whether the sending action and the receiving action are included in the foregoing scheme performed by the communication apparatus 1200.

[0249] Optionally, the communication apparatus 1200 can further include a storage module, which can be configured to store instructions and / or data. The processing module 1202 can read the instructions and / or data in the storage module, so that the communication apparatus 1200 implements the foregoing method embodiments.

[0250] The communication apparatus 1200 can be used to perform the actions performed by the terminal device in the embodiment shown in FIG. 8. The processing module 1202 is configured to perform processing-related operations of the terminal device in the embodiment shown in FIG. 8. The transceiver module 1201 is configured to perform receiving-related operations of the terminal device in the embodiment shown in FIG. 8.

[0251] For example, the communication apparatus 1200 is configured to perform the following scheme:

[0252] The transceiver module 1201 is configured to receive first information from an access network device or a sensing network element, the first information being used to determine a first coordinate position of a sensing target of the communication apparatus 1200; and transmit first sensing data to the access network device, the first sensing data comprising the first coordinate position of each sensing target in at least one sensing target of the communication apparatus 1200, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising a second coordinate position of each sensing target in the at least one sensing target.

[0253] For other implementation manners, refer to the related description in the foregoing embodiment shown in FIG. 8, which will not be repeated here.

[0254] It should be understood that the specific process in which each module performs the corresponding process described above has been described in detail in the foregoing method embodiments, and will not be repeated here for the sake of brevity.

[0255] The processing module 1202 in the foregoing embodiments can be implemented by at least one processor or processor-related circuit. The transceiver module 1201 can be implemented by a transceiver or transceiver-related circuit. The transceiver module 1201 can also be referred to as a communication module or a communication interface. The storage module can be implemented by at least one memory.

[0256] FIG. 13 is a structural schematic diagram of a communication apparatus according to an embodiment of the present application. As shown in FIG. 13, the communication apparatus 1300 comprises a transceiver module 1301 and a processing module 1302.

[0257] The communication apparatus 1300 comprises a terminal device, an access network device or a sensing network element, or a component (for example, a chip), a module or a unit in the terminal device, the access network device or the sensing network element.

[0258] The communication apparatus 1300 can be configured to perform all or part of the steps performed by the terminal device in the embodiment shown in FIG. 9. For details, refer to the related description in the foregoing embodiment shown in FIG. 9.

[0259] The communication apparatus 1300 can be configured to perform all or part of the steps performed by the access network device or the sensing network element in the embodiments shown in FIG. 8 and FIG. 9. For details, refer to the related description in the foregoing embodiments shown in FIG. 8 and FIG. 9.

[0260] The processing module 1302 is configured to perform data processing. The transceiver module 1301 is configured to implement a corresponding communication function.

[0261] Optionally, the transceiver module 1301 can include a sending module and a receiving module. The sending module is configured to perform the sending operations in the foregoing method embodiments. The receiving module is configured to perform the receiving operations in the foregoing method embodiments.

[0262] It should be noted that the communication apparatus 1300 can include the sending module but not the receiving module. Alternatively, the communication apparatus 1300 can include the receiving module but not the sending module. Whether the sending module and the receiving module are included in the communication apparatus 1300 can depend on whether the actions of sending and receiving are included in the above-mentioned solutions performed by the communication apparatus 1300.

[0263] Optionally, the communication apparatus 1300 further includes a storage module, which can be configured to store instructions and / or data. The processing module 1302 can read the instructions and / or data stored in the storage module, so that the communication apparatus 1300 implements the foregoing method embodiments.

[0264] The communication apparatus 1300 can be configured to perform the actions performed by the terminal device side in the embodiments shown in FIG. 9. The processing module 1302 is configured to perform processing-related operations of the terminal device side in the embodiments shown in FIG. 9. The transceiver module 1301 is configured to perform receiving-related operations of the terminal device side in the embodiments shown in FIG. 9.

[0265] For example, the communication apparatus 1300 is configured to perform the following solution.

[0266] The processing module 1302 is configured to determine first perception data, the first perception data including a first coordinate position of at least one perception target of the communication apparatus 1300, the first coordinate position of the at least one perception target being a coordinate position of the at least one perception target in a coordinate system established with a first reference point as an origin.

[0267] The transceiver module 1301 is configured to send the first perception data to an access network device.

[0268] The communication apparatus 1300 can be configured to perform the actions performed by the access network device or the perception network element side in the embodiments shown in FIG. 8 and FIG. 9. The processing module 1302 is configured to perform processing-related operations of the access network device or the perception network element side in the embodiments shown in FIG. 8 and FIG. 9. The transceiver module 1301 is configured to perform receiving-related operations of the access network device or the perception network element side in the embodiments shown in FIG. 8 and FIG. 9.

[0269] For example, the communication apparatus 1300 is configured to perform the following solution.

[0270] The processing module 1302 is configured to determine first information, the first information being used to determine a first coordinate position of a perception target of a terminal device.

[0271] The transceiver module 1301 is configured to send the first information to the terminal device.

[0272] For another example, the communication apparatus 1300 is configured to perform the following solution.

[0273] The processing module 1302 is configured to determine first information according to a coordinate position of the first reference point relative to the terminal device, the first information being used to determine a second coordinate position of a perception target of the terminal device, the second coordinate position of the perception target being an absolute coordinate position of the perception target.

[0274] The transceiver module 1301 is configured to send the first information to the access network device.

[0275] For another example, the communication apparatus 1300 is configured to perform the following scheme:

[0276] The transceiver module 1301 is configured to receive the first information from the perception network element, the first information being used to determine a second coordinate position of a perception target of the terminal device, the second coordinate position of the perception target being an absolute coordinate position of the perception target; and receive first perception data from the terminal device, the first perception data including a first coordinate position of each of at least one perception target of the terminal device, the first coordinate position of each of the at least one perception target being a coordinate position of each of the at least one perception target in a coordinate system established with the first reference point as the origin.

[0277] The processing module 1302 is configured to determine second perception data according to the first information and the first coordinate position of the at least one perception target, the second perception data including a second coordinate position of each of the at least one perception target, the second coordinate position of each of the at least one perception target being an absolute coordinate position of each of the at least one perception target.

[0278] For other implementation manners, refer to the related descriptions in the foregoing embodiments shown in FIG. 8 and FIG. 9, which will not be repeated here.

[0279] It should be understood that the specific processes in which the modules perform the corresponding processes are described in the foregoing method embodiments, which will not be repeated here for the sake of brevity.

[0280] The processing module 1302 in the foregoing embodiments can be implemented by at least one processor or processor-related circuit. The transceiver module 1301 can be implemented by a transceiver or transceiver-related circuit. The transceiver module 1301 can also be referred to as a communication module or a communication interface. The storage module can be implemented by at least one memory.

[0281] The application further provides another communication apparatus, and FIG. 14 is another structural schematic diagram of a communication apparatus according to an embodiment of the application. Please refer to FIG. 14, the communication apparatus 1400 includes a processor 1401.

[0282] Optionally, the communication apparatus 1400 further includes a memory 1402.

[0283] Optionally, the communication apparatus 1400 further includes a transceiver 1403.

[0284] In a possible implementation, the processor 1401, the memory 1402 and the transceiver 1403 are connected through a bus respectively, and the memory 1402 stores computer instructions.

[0285] In a possible implementation, when the communication apparatus 1400 includes a sensing network element, or a component (for example, a chip), a module or a unit in the sensing network element, the communication apparatus 1400 can be used to execute steps performed by the sensing network element in the method embodiments described above, and the related description can be referred to in the method embodiments.

[0286] In another possible implementation, when the communication apparatus 1400 includes an access network device, or a component (for example, a chip), a module or a unit in the access network device, the communication apparatus 1400 can be used to execute steps executed by the access network device in the method embodiments described above, and the related description can be referred to in the method embodiments.

[0287] Optionally, the processing module 1202 in the embodiment shown in FIG. 12 can be the processor 1401, and the transceiving module 1201 in the embodiment shown in FIG. 12 can be the transceiver 1403. Alternatively, the processing module 1302 in the embodiment shown in FIG. 13 can be the processor 1401, and the transceiving module 1301 in the embodiment shown in FIG. 13 can be the transceiver 1403.

[0288] Embodiments of the present application further provide a communication apparatus. FIG. 15 is another structural schematic diagram of a communication apparatus according to an embodiment of the present application. As shown in FIG. 15, the communication apparatus 1500 can be a terminal device in the method embodiments described above, or a component (for example, a chip), a module or a unit of the terminal device in the method embodiments described above. The communication apparatus 1500 can be used to execute operations performed by the terminal device in the method embodiments described above.

[0289] The processor is mainly used for processing data or signals, and controlling the communication apparatus, executing a corresponding software program, processing data of the software program and the like.

[0290] It should be noted that the signal processing algorithm of the processor has weak capability and cannot perform complex signal processing algorithm.

[0291] The memory is mainly used for storing software programs and data. 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.

[0292] The antenna is mainly used for receiving and transmitting radio frequency signals in the form of electromagnetic waves.

[0293] Optionally, the communication apparatus 1500 further includes an input / output device, such as a touch screen, a display screen, a keyboard, and the like, which is mainly used for receiving user input data and outputting data to the user.

[0294] When data needs to be sent, the processor performs baseband processing on the data to be sent, and outputs a baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and sends the radio frequency signal in the form of an electromagnetic wave through an antenna. When data is sent to the communication apparatus, 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. The processor converts the baseband signal into data and processes the data.

[0295] For ease of illustration, only one memory and one processor are shown in FIG. 15. In actual products of the communication apparatus, there can be one or more processors and one or more memories. The memory can also be referred to as a storage medium or a storage device, etc. The memory can be independent of the processor, or can be integrated with the processor. The embodiments of the present application do not limit this.

[0296] In the embodiments of the present application, the antenna and the radio frequency circuit having the transceiving function can be regarded as a transceiving unit of the communication apparatus, and the processor having the processing function can be regarded as a processing unit of the communication apparatus. As shown in FIG. 15, the communication apparatus 1500 includes a transceiving unit 1510 and a processing unit 1520. The transceiving unit can also be referred to as a transceiver, a transceiver machine, a transceiving device, etc. The processing unit can also be referred to as a processor, a processing board, a processing module, a processing device, etc.

[0297] Optionally, the devices for implementing the receiving function in the transceiving unit 1510 can be regarded as a receiving unit, and the devices for implementing the sending function in the transceiving unit 1510 can be regarded as a sending unit, that is, the transceiving unit 1510 includes the receiving unit and the sending unit. The transceiving unit can also be referred to as a transceiver, a transceiver, or a transceiving circuit, etc. The receiving unit can also be referred to as a receiver, a receiver, or a receiving circuit, etc. The sending unit can also be referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0298] It should be understood that the transceiving unit 1510 is configured to perform the sending operation and the receiving operation of the terminal device in the above-mentioned method embodiments, and the processing unit 1520 is configured to perform other operations of the terminal device in the above-mentioned method embodiments, except for the transceiving operation.

[0299] When the communication apparatus is a chip, the chip includes a transceiving unit and a processing unit. The transceiving unit can be an input / output circuit or a communication interface; the processing unit is a processor or a microprocessor integrated on the chip, or an integrated circuit or a logic circuit. In the above-mentioned method embodiments, the sending operation corresponds to the output of the input / output circuit, and the receiving operation corresponds to the input of the input / output circuit.

[0300] The application further provides a communication system, which comprises a terminal device and an access network device, the terminal device is configured to perform all or part of the steps performed by the terminal device in the embodiment shown in FIG. 8, and the access network device is configured to perform all or part of the steps performed by the access network device in the embodiment shown in FIG. 8.

[0301] The application further provides another communication system, which comprises a terminal device and a sensing network element, the terminal device is configured to perform all or part of the steps performed by the terminal device in the embodiment shown in FIG. 8, and the sensing network element is configured to perform all or part of the steps performed by the sensing network element in the embodiment shown in FIG. 8.

[0302] The application further provides another communication system, which comprises an access network device and a sensing network element, the access network device is configured to perform all or part of the steps performed by the access network device in the embodiment shown in FIG. 9, and the sensing network element is configured to perform all or part of the steps performed by the sensing network element in the embodiment shown in FIG. 9. Optionally, the communication system further comprises a terminal device, the terminal device is configured to perform all or part of the steps performed by the terminal device in the embodiment shown in FIG. 9.

[0303] The embodiment of the application further provides a computer program product comprising computer instructions, which, when executed on a computer, cause the computer to perform the method of the embodiments shown in FIG. 8 and FIG. 9.

[0304] The embodiment of the application further provides a computer readable storage medium comprising computer instructions, which, when executed on a computer, cause the computer to perform the method of the embodiments shown in FIG. 8 and FIG. 9.

[0305] The embodiment of the application further provides a chip device comprising a processor, which is configured to invoke computer programs or computer instructions stored in a memory, so as to cause the processor to perform the method of the embodiments shown in FIG. 8 and FIG. 9.

[0306] Optionally, the processor is coupled with the memory through an interface.

[0307] Optionally, the chip device further comprises the memory, and the memory stores the computer programs or computer instructions.

[0308] The processor mentioned in any of the above can be a general central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the method of the embodiments shown in FIGS. 8 and 9. The memory mentioned in any of the above can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), and the like.

[0309] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0310] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. can be located in one place or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0311] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0312] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the essential part of the technical solutions of the present application or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0313] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A data transmission method, characterized by, The method comprises: receiving first information from an access network device or a sensing network element, the first information being used to determine first coordinate positions of sensing targets of a terminal device; sending first sensing data to the access network device, the first sensing data comprising first coordinate positions of respective sensing targets of at least one sensing target of the terminal device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising second coordinate positions of respective sensing targets of the at least one sensing target.

2. The method of claim 1, wherein, The first information is coordinate conversion information, the coordinate conversion information being used to convert the second coordinate positions of respective sensing targets of the at least one sensing target into the first coordinate positions of respective sensing targets of the at least one sensing target.

3. The method of claim 2, wherein, The coordinate conversion information comprises a translation matrix and / or a rotation matrix.

4. The method of claim 1, wherein, The first information is reference point information, the reference point information being used to indicate a first reference point, the first coordinate positions of respective sensing targets of the at least one sensing target being coordinate positions of respective sensing targets of the at least one sensing target in a coordinate system established with the first reference point as an origin.

5. The method according to any one of claims 1 to 4, characterized in that, The first information comprises an identifier of the access network device.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: sending a first request to the access network device or the sensing network element, the first request being used to request the first information.

7. A data transmission method, characterized by, The method comprises: determining first information, the first information being used to determine first coordinate positions of sensing targets of a terminal device; sending the first information to the terminal device.

8. The method of claim 7, wherein, The method is applied to an access network device; the method further comprises: receiving first sensing data from the terminal device, the first sensing data comprising first coordinate positions of respective sensing targets of at least one sensing target of the terminal device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising second coordinate positions of respective sensing targets of the at least one sensing target.

9. The method according to claim 7 or 8, characterized in that, The first information is coordinate conversion information, the coordinate conversion information being used to convert the second coordinate positions of respective sensing targets of the at least one sensing target into the first coordinate positions of respective sensing targets of the at least one sensing target.

10. The method of claim 9, wherein, The coordinate conversion information comprises a translation matrix and / or a rotation matrix.

11. The method of claim 7 or 8, wherein, The first information is reference point information, the reference point information being used to indicate a first reference point, the first coordinate positions of respective sensing targets of the at least one sensing target being coordinate positions of respective sensing targets of the at least one sensing target in a coordinate system established with the first reference point as an origin.

12. The method according to any one of claims 7 to 11, characterized in that, The first information comprises an identifier of the access network device.

13. The method according to any one of claims 7 to 12, characterized in that, The method further comprises: receiving a first request from the access network device or the sensing network element, the first request being used to request the first information.

14. A data transmission method, characterized by, The method comprises: determining first perception data, the first perception data comprising first coordinate positions of respective ones of at least one perception target of the terminal device, the first coordinate positions of respective ones of the at least one perception target being coordinate positions of respective ones of the at least one perception target in a coordinate system established with a first reference point as origin; sending the first perception data to an access network device.

15. The method of claim 14, wherein, The method further comprises: sending first reference point information to a perception network element, the first reference point information being indicative of a coordinate position of the first reference point relative to the terminal device.

16. A data transmission method, characterized by, The method comprises: determining first information from a coordinate position of the first reference point relative to the terminal device, the first information being used to determine second coordinate positions of perception targets of the terminal device, the second coordinate positions of the perception targets being absolute coordinate positions of the perception targets; sending the first information to an access network device.

17. The method of claim 16, wherein, The method further comprises: receiving first reference point information from the terminal device, the first reference point information being indicative of a coordinate position of the first reference point relative to the terminal device.

18. The method according to claim 16 or 17, characterized in that, The first information is coordinate conversion information, the coordinate conversion information being used to convert the first coordinate positions of the perception targets into the second coordinate positions of the perception targets.

19. The method of claim 18, wherein, The coordinate conversion information comprises at least one of: a translation matrix, and / or, a rotation matrix.

20. The method of claim 16 or 17, wherein, The first information is second reference point information, the second reference point information being indicative of an absolute coordinate position of the first reference point.

21. A data transmission method, characterized by, The method comprises: receiving first information from a perception network element, the first information being used to determine second coordinate positions of perception targets of the terminal device, the second coordinate positions of the perception targets being absolute coordinate positions of the perception targets; receiving first perception data from the terminal device, the first perception data comprising first coordinate positions of respective ones of at least one perception target of the terminal device, the first coordinate positions of respective ones of the at least one perception target being coordinate positions of respective ones of the at least one perception target in a coordinate system established with a first reference point as origin; determining second perception data from the first information and the first coordinate positions of the at least one perception target, the second perception data comprising second coordinate positions of respective ones of the at least one perception target, the second coordinate positions of respective ones of the at least one perception target being absolute coordinate positions of respective ones of the at least one perception target.

22. The method of claim 21, wherein, The first information is coordinate conversion information, the coordinate conversion information being used to convert the first coordinate positions of respective ones of the at least one perception target into the second coordinate positions of respective ones of the at least one perception target.

23. The method of claim 22, wherein, The coordinate conversion information comprises at least one of: a translation matrix, and / or, a rotation matrix.

24. The method of claim 21, wherein, The first information comprises second reference point information, the second reference point information being indicative of an absolute coordinate position of the first reference point.

25. A communications device, characterized by The communication device comprises: The transceiver module is configured to receive first information from an access network device or a sensing network element, the first information being used to determine first coordinate positions of sensing targets of the communication device; and send first sensing data to the access network device, the first sensing data comprising first coordinate positions of respective sensing targets of at least one sensing target of the communication device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising second coordinate positions of respective sensing targets of the at least one sensing target.

26. The communication apparatus according to claim 25, wherein The first information is coordinate conversion information, the coordinate conversion information being used to convert the second coordinate positions of the respective sensing targets of the at least one sensing target into the first coordinate positions of the respective sensing targets of the at least one sensing target.

27. The communication apparatus according to claim 26, wherein The coordinate conversion information comprises a translation matrix and / or a rotation matrix.

28. The communication apparatus of claim 25, wherein, The first information is reference point information, the reference point information being used to indicate a first reference point, the first coordinate positions of the respective sensing targets of the at least one sensing target being coordinate positions of the respective sensing targets of the at least one sensing target in a coordinate system established with the first reference point as an origin.

29. The communication apparatus according to any one of claims 25-28, wherein, The first information comprises an identifier of the access network device.

30. The communication apparatus according to any one of claims 25-29, wherein, The transceiver module is further configured to: send a first request to the access network device or the sensing network element, the first request being used to request the first information.

31. A communications device, characterized by The communication device comprises: a processing module configured to determine first information, the first information being used to determine first coordinate positions of sensing targets of a terminal device; and a transceiver module configured to send the first information to the terminal device.

32. The communication apparatus of claim 31, wherein The communication device is an access network device; and the transceiver module is further configured to: receive first sensing data from the terminal device, the first sensing data comprising first coordinate positions of respective sensing targets of at least one sensing target of the terminal device, the first sensing data being determined according to second sensing data and the first information, the second sensing data comprising second coordinate positions of respective sensing targets of the at least one sensing target.

33. The communication apparatus according to claim 31 or 32, wherein, The first information is coordinate conversion information, the coordinate conversion information being used to convert the second coordinate positions of the respective sensing targets of the at least one sensing target into the first coordinate positions of the respective sensing targets of the at least one sensing target.

34. The communication apparatus of claim 33, wherein The coordinate conversion information comprises a translation matrix and / or a rotation matrix.

35. The communication apparatus according to claim 31 or 32, wherein, The first information is reference point information, the reference point information being used to indicate a first reference point, the first coordinate positions of the respective sensing targets of the at least one sensing target being coordinate positions of the respective sensing targets of the at least one sensing target in a coordinate system established with the first reference point as an origin.

36. The communication apparatus according to any one of claims 31 to 35, wherein, The first information comprises an identifier of the access network device.

37. The communication apparatus according to any one of claims 31 to 36, wherein, The transceiver module is further configured to: receive a first request from the access network device or the sensing network element, the first request being used to request the first information.

38. A communications device, characterized by The communication device comprises: The processing module is configured to determine first perception data, the first perception data comprising first coordinate positions of respective ones of at least one perception target of the communication device, the first coordinate positions of respective ones of the at least one perception target being coordinate positions of respective ones of the at least one perception target in a coordinate system established with a first reference point as an origin; The transceiver module is configured to send the first perception data to an access network device.

39. The communication apparatus of claim 38, wherein The transceiver module is further configured to: send first reference point information to a perception network element, the first reference point information being indicative of a coordinate position of the first reference point relative to the communication device.

40. A communications device, characterized by The communication device comprises: a processing module configured to determine first information based on a coordinate position of the first reference point relative to a terminal device, the first information being used to determine second coordinate positions of perception targets of the terminal device, the second coordinate positions of the perception targets being absolute coordinate positions of the perception targets; a transceiver module configured to send the first information to an access network device.

41. The communication apparatus of claim 40, wherein The transceiver module is further configured to: receive first reference point information from the terminal device, the first reference point information being indicative of a coordinate position of the first reference point relative to the terminal device.

42. The communication apparatus according to claim 40 or 41, wherein, The first information is coordinate conversion information, the coordinate conversion information being used to convert the first coordinate positions of the perception targets into the second coordinate positions of the perception targets.

43. The communication apparatus of claim 42, wherein The coordinate conversion information comprises at least one of: a translation matrix, and / or, a rotation matrix.

44. The communication apparatus according to claim 40 or 41, wherein, The first information is second reference point information, the second reference point information being indicative of an absolute coordinate position of the first reference point.

45. A communications device, characterized by The communication device comprises: a transceiver module configured to receive first information from a perception network element, the first information being used to determine second coordinate positions of perception targets of a terminal device, the second coordinate positions of the perception targets being absolute coordinate positions of the perception targets; and receive first perception data from the terminal device, the first perception data comprising first coordinate positions of respective ones of at least one perception target of the terminal device, the first coordinate positions of respective ones of the at least one perception target being coordinate positions of respective ones of the at least one perception target in a coordinate system established with a first reference point as an origin; a processing module configured to determine second perception data based on the first information and the first coordinate positions of the at least one perception target, the second perception data comprising second coordinate positions of respective ones of the at least one perception target, the second coordinate positions of respective ones of the at least one perception target being absolute coordinate positions of respective ones of the at least one perception target.

46. The communication apparatus of claim 45, wherein The first information is coordinate conversion information, the coordinate conversion information being used to convert the first coordinate positions of respective ones of the at least one perception target into the second coordinate positions of respective ones of the at least one perception target.

47. The communication apparatus of claim 46, wherein The coordinate conversion information comprises at least one of: a translation matrix, and / or, a rotation matrix.

48. The communication apparatus of claim 45, wherein The first information comprises second reference point information, which is used to indicate an absolute coordinate position of the first reference point.

49. A communications device, characterized by The communication device comprises a processor for executing computer programs or computer instructions in a memory to perform the method of any one of claims 1 to 6, or to perform the method of any one of claims 7 to 13, or to perform the method of claim 14 or 15, or to perform the method of any one of claims 16 to 20, or to perform the method of any one of claims 21 to 24.

50. The device of claim 49, wherein, The device further comprises a transceiver, and the processor and the transceiver are connected to each other through a line.

51. A computer readable storage medium, characterized in that, A computer program is stored thereon, which, when executed by a device, causes the device to perform the method of any one of claims 1 to 24.

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