Sensing method and corresponding apparatus

Abstract

Provided in the present application is a sensing method, which can be applied to a communication system for integrated sensing and communication (ISAC). The method comprises: on the basis of an indication of a data collection node, a sensing node executing on first sensing data processing related to sensing quality. In this way, the sensing node can cooperate with the data collection node to screen out, from the first sensing data, second sensing data, the sensing quality of which meets a sensing quality requirement. Therefore, the second sensing data is used to train a sensing module, such that the efficiency and effect of training the sensing module can be improved, and the inference accuracy of the sensing model can thus also be improved.

Description

A perception method and a corresponding device

[0001] The present application claims priority from the Chinese patent application No. 202410681726.X filed on May 28, 2024, and entitled "A perception method and a corresponding device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] In wireless perception technology, a perception node can realize perception of a perception target in an environment by receiving a backwave signal and analyzing the backwave signal. The backwave signal refers to a signal reflected, diffracted or scattered by the perception target.

[0004] With the development of artificial intelligence (AI) technology, deep learning (DL) / large models have shown strong capabilities in various fields and have received more attention in the field of perception. The perception process based on DL / large models usually includes: a data collection node collects perception data, and then trains a perception model according to the collected perception data. The trained perception model can be applied to the perception process, such as analyzing the backwave signal.

[0005] At present, the sources of perception data used for training of the perception model are various. These perception data often have problems such as noise, timeliness and low quality. SUMMARY

[0006] The present application provides a perception method for screening high-quality perception data, thereby improving the efficiency and effect of the perception model training. The present application also provides a corresponding device, a computer readable storage medium and a computer program product, etc.

[0007] The first aspect of the present application provides a perception method, which is applied to a first communication device, and the method comprises:

[0008] receiving first information from a second communication device, the first information being used to instruct the first communication device to perform a processing related to perception quality on first perception data;

[0009] sending second perception data to the second communication device, the second perception data being part or all of the first perception data whose perception quality meets a perception quality requirement, the perception quality of the first perception data being determined by strategy information of the perception quality.

[0010] In the present application, the first communication device can be a sensing node, such as a receiving end of a sensing signal echo signal, or / and a transmitting end of a sensing signal, etc. The first communication device can be an access network device, a terminal device, or a chip in the access network device, or a chip in the terminal device. The second communication device can be a data collection node, which is a node for collecting sensing data for training a sensing model. The data collection node can be an access network device, a terminal device, or a chip in the access network device, or a chip in the terminal device, and can also be a server.

[0011] In the present application, there can be one or more first sensing data, and the same sensing quality related processing can be performed on each first sensing data when there are multiple first sensing data. There can be one or more second sensing data, and the second sensing data can be a subset of the first sensing data. Of course, if each first sensing data meets the sensing quality requirement, the second sensing data is the full set of the first sensing data.

[0012] In the present application, the sensing quality related processing can include determining the sensing quality of the first sensing data, determining whether the sensing quality of the first sensing data meets the sensing quality requirement, or determining at least one of the first parameters used to determine the sensing quality of the first sensing data.

[0013] In the present application, the sensing quality requirement can be one or more sensing quality threshold values, such as the sensing quality of the sensing data being greater than the sensing quality threshold value, i.e. the sensing quality of the sensing data meeting the sensing quality requirement.

[0014] In the present application, the policy information of the sensing quality refers to a policy for determining the sensing quality of the sensing data, which can be represented by a function or given by a table, and the present application does not limit the specific form of the policy of the sensing quality.

[0015] In the first aspect, the first communication device can filter the second sensing data whose sensing quality meets the sensing quality requirement from the first sensing data based on the first information sent by the second communication device. In this way, using the second sensing data to train the sensing model can improve the efficiency and effect of training the sensing model, and further improve the accuracy of the inference of the sensing model.

[0016] In a possible implementation manner, the first information includes policy information of the sensing quality, and the policy information is used by the first communication device to determine the sensing quality of the first sensing data.

[0017] In the possible implementation, if the first information includes the policy information of the perception quality, the perception quality of the first perception data is determined by the first communication device. Since there are usually multiple first communication devices and only one second communication device as the data collection node, the calculation pressure of the second communication device can be dispersed by determining the perception quality of the first perception data by the first communication device.

[0018] In a possible implementation, the policy information includes a data field related to the perception model training, and a quality evaluation policy corresponding to the data field.

[0019] In the present application, the quality evaluation policy can be a quality evaluation relationship, such as a relationship expressed by a function; or the quality evaluation policy can be a series of preconfigured numerical values or numerical value ranges, and the relationship between the parameters used to determine the perception quality and the corresponding perception quality can be associated by a table.

[0020] In the possible implementation, the policy information is described by the data field and the quality evaluation policy corresponding to the data field, so that the speed of determining the perception quality can be improved.

[0021] In a possible implementation, the data field includes at least one of the fields for indicating input information, output information, time information or configuration parameters related to the perception model training.

[0022] In the present application, the data field can have one or more, and the contents indicated by different data fields are different.

[0023] The input information refers to the information to be input into the perception model during the model training process, such as the sampling information of the echo signal, which can include one or more of the amplitude, time delay, angle, distance image, etc.

[0024] The output information usually refers to the output information of the perception model, but during the model training process, the output information refers to the ground-truth label. The ground-truth label and the input information constitute a sample pair, and both are used as training samples during the model training process to adjust the gradient in the perception model. The output information of the echo signal usually includes one or more of the scattering point information (such as at least one of the position, amplitude, energy or velocity of the scattering point), the geometric information (such as at least one of the shape or center of the polygon or polyhedron), or the object material information (such as at least one of the material, texture, color or electromagnetic parameter).

[0025] The time information is usually a timestamp, and the time information is usually used to mark the time of collecting the perception data, and can be used to filter the perception data in a suitable time period as the training sample of the perception model.

[0026] The configuration parameters can generally include one or more of the following: transceiving antenna position, transceiving antenna number, imaging area, bandwidth, or frequency band.

[0027] In this possible implementation manner, the content indicated by the data field is different, and the associated quality evaluation strategy is also different, so that the different dimensions of the first perception data can be targetedly subjected to perception quality calculation.

[0028] In a possible implementation manner, the strategy information further includes a weight corresponding to the data field, and the weight is used to indicate a proportion of the perception quality of the data field in the perception quality of the first perception data.

[0029] In this possible implementation manner, the proportion of the perception quality of the data field in the total perception quality is indicated by the weight, so that the proportion of the perception quality of the data field with higher importance in the total perception quality can be increased, and the reliability of the perception quality of the first perception data can be improved.

[0030] In a possible implementation manner, the first information further includes a perception quality requirement, and the perception quality requirement is used for the first communication device to determine whether the perception quality of the first perception data meets the perception quality requirement.

[0031] In this possible implementation manner, when the first information further includes the perception quality requirement, the first communication device can filter the first perception data, so as to determine the second perception data meeting the perception quality requirement. In this way, the calculation pressure of the second communication device can be dispersed.

[0032] In a possible implementation manner, before the second perception data is sent to the second communication device, the method further includes:

[0033] sending, to the second communication device, the perception quality of the first perception data, the perception quality of the first perception data being used for the second communication device to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0034] receiving, from the second communication device, a perception data request, the perception data request being used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0035] In this possible implementation manner, the first communication device sends the perception quality of the first perception data to the second communication device, and the second communication device judges whether the perception quality requirement is met, which is more conducive to managing the perception quality requirement and reducing the risk of leakage of the perception quality requirement in the transmission process.

[0036] In a possible implementation manner, the first information includes parameter indication information, and the parameter indication information is used to indicate a first parameter used to determine the perception quality of the first perception data. Correspondingly, before the perception data meeting the perception quality requirement is sent to the second communication device, the method further includes:

[0037] sending the first parameter to the second communication device, the first parameter being used by the second communication device to determine the perception quality of the first perception data and to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0038] receiving a perception data request from the second communication device, the perception data request indicating that the perception quality of the second perception data meets the perception quality requirement.

[0039] In the possible implementation manner, when the first information includes the parameter indication information, the policy information of the perception quality and the perception quality requirement do not need to be sent to the first communication device, and the risk of leakage of the policy information of the perception quality and the perception quality requirement in the transmission process can be reduced.

[0040] In a possible implementation manner, the first parameter is a subset of parameters required for determining the perception quality of the first perception data.

[0041] In the possible implementation manner, a part of parameters used for determining the perception quality are recorded in the second communication device, and the parameters do not need to be obtained from the first communication device. In this way, the second communication device sends the parameter indication information according to the requirement, and the first communication device provides the first parameter according to the requirement of the second communication device, so that the requirement of the second communication device for determining the perception quality can be met, and the amount of data transmitted between the first communication device and the second communication device can be reduced.

[0042] In a possible implementation manner, the output information is collected by an active reflector or is obtained by estimating the first perception data.

[0043] In the possible implementation manner, the output information can be obtained in multiple ways. The accuracy of the output information collected by the active reflector is relatively high, but the active reflector is used as a perception target, which relatively limits the source of the first perception data. The accuracy of the output information obtained by estimating the first perception data is relatively low compared with the way of collecting the output information by the active reflector, but the source of the first perception data is extensive.

[0044] In a possible implementation manner, the configuration parameter includes multiple types, wherein a probability density of a first type of configuration parameter is negatively correlated with a perception quality of the first type of configuration parameter, the probability density of the first type of configuration parameter is used to indicate a proportion of the first type of configuration parameter in the multiple types of configuration parameters, and the first type is any one of the multiple types.

[0045] In a possible implementation manner, the configuration parameters can generally include one or more of the following: a transceiving antenna position, a transceiving antenna number, an imaging area, a bandwidth, or a frequency band, wherein each is of a type. The number of configuration parameters of different types is generally different. The probability density of the configuration parameters of the first type can be a ratio of the number of the configuration parameters of the first type to the total number of the configuration parameters of the multiple types. If the probability density of the configuration parameters of the first type is small, it indicates that the number of the configuration parameters of the first type is small, and the configuration parameters of the first type can be configured with a higher perception quality. In this way, it is beneficial for subsequent collection of the configuration parameters, and the amount of the collected configuration parameters of the first type is increased, so that data of the configuration parameters of various types is balanced.

[0046] The second aspect of the present application provides a perception method, which comprises:

[0047] sending first information to the first communication device, the first information being used to instruct the first communication device to perform a processing related to the perception quality on the first perception data;

[0048] receiving second perception data from the first communication device, the second perception data being part or all of the first perception data whose perception quality meets a perception quality requirement, the perception quality of the first perception data being determined by policy information of the perception quality.

[0049] In the second aspect, the second communication device can make the first communication device perform the processing related to the perception quality through the first information sent to the first communication device, and then filter the second perception data whose perception quality meets the perception quality requirement from the first perception data. In this way, the efficiency and effect of training the perception model using the second perception data can be improved, and the accuracy of inference of the perception model can also be improved.

[0050] In a possible implementation manner, the first information includes policy information of the perception quality, and the policy information is used by the first communication device to determine the perception quality of the first perception data.

[0051] In a possible implementation manner, the policy information includes a data field related to training of the perception model, and a quality evaluation policy corresponding to the data field.

[0052] In a possible implementation manner, the data field includes at least one of the following fields: input information, output information, time information, or configuration parameters related to training of the perception model.

[0053] In a possible implementation manner, the policy information further includes a weight corresponding to the data field, and the weight is used to indicate a proportion of the perception quality of the data field in the perception quality of the first perception data.

[0054] In a possible implementation, the first information further includes a perception quality requirement, and the perception quality requirement is used by the first communication device to determine whether the perception quality of the first perception data meets the perception quality requirement.

[0055] In a possible implementation, before receiving the second perception data from the first communication device, the method further includes:

[0056] receiving, from the first communication device, a perception quality of the first perception data, the perception quality of the first perception data being used by the second communication device to determine whether the perception quality of the first perception data meets a perception quality requirement;

[0057] sending, to the first communication device, a perception data request, the perception data request being used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0058] In a possible implementation, the first information includes parameter indication information, the parameter indication information being used to indicate a first parameter used to determine the perception quality of the first perception data; before receiving the second perception data from the first communication device, the method further includes:

[0059] receiving, from the first communication device, the first parameter, the first parameter being used by the second communication device to determine the perception quality of the first perception data and to determine whether the perception quality of the first perception data meets a perception quality requirement;

[0060] sending, to the first communication device, a perception data request, the perception data request being used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0061] In a possible implementation, the first parameter is a subset of parameters required to determine the perception quality of the first perception data.

[0062] In a possible implementation, the output information is collected by an active reflector or is obtained by estimating the first perception data.

[0063] In a possible implementation, the configuration parameters include a plurality of types, where a probability density of a first type of configuration parameter is negatively correlated with a perception quality of the first type of configuration parameter, the probability density of the first type of configuration parameter being used to indicate a proportion of the first type of configuration parameter in the plurality of types of configuration parameters, and the first type is any one of the plurality of types.

[0064] The third aspect of the present application provides a communication device, which can be the first communication device, including a transceiver module and a processing module.

[0065] The transceiver module is configured to receive first information from a second communication device, the first information being used to instruct the first communication device to perform a perception quality related process on first perception data.

[0066] a processing module, configured to perform processing related to a perception quality on the first perception data;

[0067] The transceiver module is further configured to send, to the second communication device, second perception data, the second perception data being part or all of the first perception data whose perception quality meets a perception quality requirement, the perception quality of the first perception data being determined by the policy information of the perception quality.

[0068] In a possible implementation, the first information includes policy information of the perception quality, and the policy information is used by the first communication device to determine the perception quality of the first perception data.

[0069] In a possible implementation, the policy information includes a data field related to training of a perception model, and a quality evaluation policy corresponding to the data field.

[0070] In a possible implementation, the data field includes at least one of a field used to indicate input information, output information, time information, or a configuration parameter related to training of the perception model.

[0071] In a possible implementation, the policy information further includes a weight corresponding to the data field, and the weight is used to indicate a proportion of the perception quality of the data field in the perception quality of the first perception data.

[0072] In a possible implementation, the first information further includes a perception quality requirement, and the perception quality requirement is used by the first communication device to determine whether the perception quality of the first perception data meets the perception quality requirement.

[0073] In a possible implementation, the transceiver module is further configured to:

[0074] send, to the second communication device, the perception quality of the first perception data, the perception quality of the first perception data being used by the second communication device to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0075] receive a perception data request from the second communication device, the perception data request being used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0076] In a possible implementation, the first information includes parameter indication information, and the parameter indication information is used to indicate a first parameter used to determine the perception quality of the first perception data; correspondingly, the transceiver module is further configured to:

[0077] send, to the second communication device, the first parameter, the first parameter being used by the second communication device to determine the perception quality of the first perception data and to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0078] receive a perception data request from the second communication device, the perception data request being used to indicate that a perception quality of the second perception data satisfies a perception quality requirement.

[0079] In a possible implementation, the first parameter is a subset of parameters required for determining the perception quality of the first perception data.

[0080] In a possible implementation, the output information is collected by an active reflector or is obtained by estimating the first perception data.

[0081] In a possible implementation, the configuration parameters include a plurality of types, wherein a probability density of a first type of configuration parameter is negatively correlated with a perception quality of the first type of configuration parameter, the probability density of the first type of configuration parameter being used to indicate a proportion of the first type of configuration parameter in the plurality of types of configuration parameters, and the first type is any one of the plurality of types.

[0082] The fourth aspect of the present application provides a communication device, which can be a second communication device in communication with a first communication device, and the communication device comprises a transceiver module and a processing module.

[0083] The processing module is configured to determine first information.

[0084] The transceiver module is configured to:

[0085] The transceiver module is configured to send the first information to the first communication device, the first information being used to instruct the first communication device to perform a perception quality related processing on the first perception data.

[0086] The transceiver module is configured to receive second perception data from the first communication device, the second perception data being part or all of the first perception data whose perception quality satisfies a perception quality requirement, and the perception quality of the first perception data being determined by the policy information of the perception quality.

[0087] In a possible implementation, the first information includes the policy information of the perception quality, and the policy information is used by the first communication device to determine the perception quality of the first perception data.

[0088] In a possible implementation, the policy information includes a data field related to perception model training and a quality evaluation policy corresponding to the data field.

[0089] In a possible implementation, the data field includes at least one of a field used to indicate input information, output information, time information or configuration parameters related to perception model training.

[0090] In a possible implementation, the policy information further includes a weight corresponding to the data field, and the weight is used to indicate a proportion of the perception quality of the data field in the perception quality of the first perception data.

[0091] In a possible implementation, the first information further includes a perception quality requirement, and the perception quality requirement is used by the first communication apparatus to determine whether the perception quality of the first perception data meets the perception quality requirement.

[0092] In a possible implementation, the transceiver is further configured to:

[0093] receive, from the first communication apparatus, the perception quality of the first perception data, and the perception quality of the first perception data is used by the second communication apparatus to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0094] send, to the first communication apparatus, a perception data request, and the perception data request is used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0095] In a possible implementation, the first information includes parameter indication information, and the parameter indication information is used to indicate a first parameter used to determine the perception quality of the first perception data; correspondingly, the transceiver is further configured to:

[0096] receive, from the first communication apparatus, the first parameter, and the first parameter is used by the second communication apparatus to determine the perception quality of the first perception data and to determine whether the perception quality of the first perception data meets the perception quality requirement;

[0097] send, to the first communication apparatus, a perception data request, and the perception data request is used to indicate that the perception quality of the second perception data meets the perception quality requirement.

[0098] In a possible implementation, the first parameter is a subset of parameters required to determine the perception quality of the first perception data.

[0099] In a possible implementation, the output information is collected by an active reflector or is obtained by estimating the first perception data.

[0100] In a possible implementation, the configuration parameters include a plurality of types, and a probability density of a first type of configuration parameter is negatively correlated with a perception quality of the first type of configuration parameter, the probability density of the first type of configuration parameter is used to indicate a proportion of the first type of configuration parameter in the plurality of types of configuration parameters, and the first type is any one of the plurality of types.

[0101] The fifth aspect of the present application provides a communication apparatus, which includes a processor. The processor is configured to invoke and run a computer program stored in a memory, so that the processor implements the method according to the first aspect or any one of the implementation manners of the first aspect.

[0102] Optionally, the communication apparatus further includes a transceiver, and the processor is further configured to control the transceiver to transceive signals.

[0103] Optionally, the communication device includes a memory in which a computer program is stored.

[0104] The communication device mentioned in the fifth aspect above can be a device or a chip (system) in a device.

[0105] A sixth aspect of this application provides a communication device including a processor. The processor is configured to invoke and execute a computer program stored in a memory, such that the processor implements as described in the second aspect or any of the implementations in the second aspect.

[0106] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0107] Optionally, the communication device includes a memory in which a computer program is stored.

[0108] The communication device described in the sixth aspect above can be a device or a chip (system) in a device.

[0109] The seventh aspect of this application provides a communication device, which may be a first communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the first communication device that corresponds to the execution of the methods / operations / steps / actions described in the first aspect.

[0110] The eighth aspect of this application provides a communication device, which may be a second communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the second communication device that corresponds to the execution of the methods / operations / steps / actions described in the second aspect.

[0111] The ninth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0112] The tenth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0113] The eleventh aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0114] The twelfth aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0115] The thirteenth aspect of the present application provides a chip device, comprising a processor configured to invoke a program stored in a memory, so that the processor executes the first aspect or any possible implementation of the first aspect.

[0116] Optionally, the memory is located inside or outside the chip device.

[0117] The fourteenth aspect of the present application provides a chip device, comprising a processor configured to invoke a program stored in a memory, so that the processor executes the second aspect or any possible implementation of the second aspect.

[0118] Optionally, the memory is located inside or outside the chip device.

[0119] The fifteenth aspect of the present application provides a communication system, comprising a first communication device configured to execute the first aspect or any possible implementation of the first aspect, and a second communication device configured to execute the second aspect or any possible implementation of the second aspect.

[0120] The technical effects brought by the second aspect, the third aspect or the fourth aspect, or any possible implementation of the second aspect, the third aspect or the fourth aspect, and the fifth aspect to the fifteenth aspect can refer to the technical effects brought by the first aspect or any possible implementation of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0121] FIG. 1A is a structural schematic diagram of a communication system according to an embodiment of the present application;

[0122] FIG. 1B is another structural schematic diagram of a communication system according to an embodiment of the present application;

[0123] FIG. 2A is a schematic diagram of a sensing scene according to an embodiment of the present application;

[0124] FIG. 2B is another schematic diagram of a sensing scene according to an embodiment of the present application;

[0125] FIG. 3 is a schematic diagram of a sensing method according to an embodiment of the present application;

[0126] FIG. 4A is a schematic diagram of a relationship between a signal-to-noise ratio and accuracy according to an embodiment of the present application;

[0127] FIG. 4B is a schematic diagram of a relationship between a position error of a sensing node and accuracy according to an embodiment of the present application;

[0128] FIG. 5 is a schematic diagram of a scene in which an active reflector is used as a sensing target according to an embodiment of the present application;

[0129] FIG. 6 is a schematic diagram of another embodiment of the perception method provided in the application;

[0130] FIG. 7 is a schematic diagram of another embodiment of the perception method provided in the application;

[0131] FIG. 8 is a schematic diagram of another embodiment of the perception method provided in the application;

[0132] FIG. 9 is a schematic diagram of a structure of a communication device provided in the application;

[0133] FIG. 10 is a schematic diagram of another structure of a communication device provided in the application;

[0134] FIG. 11 is a schematic diagram of another structure of a communication device provided in the application. DETAILED DESCRIPTION

[0135] The embodiments of the present application will be described in detail with reference to the drawings, obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Those skilled in the art can know that with the development of technology and the appearance of new scenes, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0136] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0137] The embodiments of the present application provide a perception method for screening high-quality perception data, thereby improving the efficiency and effect of perception model training. The present application also provides corresponding devices, computer readable storage media and computer program products, etc. The following are described in detail respectively.

[0138] The technical solutions of the embodiments of the present application can be applied to various communication systems, for example: satellite communication, a 5th generation (5G) system or new radio (NR), a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD), a universal mobile telecommunication system (UMTS), a mobile communication system after a 5G network (for example, a 6G mobile communication system), a vehicle to everything (V2X) communication system, and the like.

[0139] In addition to having stronger communication capabilities, the above communication system also has sensing capabilities, and is a communication system with integrated sensing and communication (ISAC). The communication system with integrated sensing and communication refers to a communication system that can not only communicate through communication signals (communication signals can also be described as communication channels), but also perform sensing measurements through sensing signals (sensing signals can also be described as sensing channels).

[0140] In the present application, "sensing" refers to sensing the surrounding environment and detecting targets by using the transmission, reflection, and scattering of radio waves (radio frequency signals), for example: in vehicle networking, sensing other vehicles or objects around the vehicle through sensing signals; in an imaging system, using sensing signals to image target points (tangible objects such as buildings and vehicles) in the environment. Of course, the communication system of the present application can also be an industrial automation system and the like that involves a communication system that needs to be sensed.

[0141] The communication system of the present application can be an orthogonal frequency division multiplexing (OFDM) and / or time division multiplexing (TDM) based communication system, or a frequency modulated continuous waveform (FMCW) based communication system or communication and sensing system.

[0142] For ease of understanding, the technical terms related to the embodiments of the present application are briefly introduced as follows:

[0143] 1. Sensing Node: A communication device used for sensing, which may include a transmitter (Tx), a receiver (Rx), or a transceiver integrated communication device.

[0144] 2. Transmitter: A communication device that transmits communication signals and / or sensing signals (SS), also known as a transmitting node or transmitting device.

[0145] 3. Receiver: A communication device that receives the echo signal of communication signals and / or sensing signals; it may also be called a receiving node or receiving device.

[0146] 4. Sensing Signal: This refers to the radio frequency signal used to sense the environment or target. SS can be a sensing reference signal (SERS), a positioning reference signal (PRS), or a sounding reference signal (SRS), etc. Sensing signals can be transmitted in the form of beams.

[0147] 5. Echo signal (ES): refers to the signal after the sensing signal has been transmitted, reflected or scattered. The sensing result can be determined by measuring the echo signal, which can be received by beamforming.

[0148] 6. Beam: A beam is a communication resource. A beam can be wide, narrow, or other types of beams. The technology used to form a beam can be beamforming technology or other techniques. Beamforming technology can specifically be digital beamforming technology, analog beamforming technology, and hybrid digital or analog beamforming technology. Different beams can be considered different resources. The beam used to transmit signals can be called the transmission beam (Tx beam), and the beam used to receive signals can be called the reception beam (Rx beam). The transmission beam refers to the distribution of signal strength in different directions in space after the signal is transmitted through the antenna, and the reception beam refers to the distribution of signal strength in different directions in space of the wireless signal received from the antenna.

[0149] 7. Perceived target: refers to the target object in the environment, such as buildings, vehicles or other objects.

[0150] 8. Sensing data (SD): refers to data determined through echo signals.

[0151] 9. Artificial intelligence (AI): AI is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, AI is a branch of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a similar way to human intelligence. AI is the design principle and implementation method of various intelligent machines, so that machines have the functions of perception, reasoning and decision-making. The research in the field of artificial intelligence includes robots, natural language processing, computer vision, decision-making and reasoning, human-computer interaction, recommendation and search, AI basic theory, etc. The application of artificial intelligence usually involves pre-designing an AI model, training the model with a large amount of data, and then obtaining a reasoning model suitable for different scenarios.

[0152] 10. Intelligent perception model: can also be referred to as a perception model, hereinafter uniformly referred to as a perception model. The perception model can be understood as an AI model applied in a perception scene. The perception model is trained by perception data, and the trained perception model is used to perform a reasoning process in the perception scene. The data used for training the perception model usually needs to meet accuracy, diversity, timeliness and completeness. Among them, the accuracy is used to measure the error of the training data; the diversity is used to measure the richness of the data features and distribution of the training data; the timeliness is used to determine the generation time of the training data, and to determine the training data that meets the reasonable time interval; the completeness is used to measure whether the feature fields required for training the perception model can be covered.

[0153] FIG. 1A is a structural schematic diagram of a communication system provided by an embodiment of the present application.

[0154] As shown in FIG. 1A, the communication system applicable to the present application includes a first communication device and a second communication device. The first communication device can be a perception node, such as a receiving end of an echo signal of a perception signal, or / and a transmitting end of a perception signal, etc. The first communication device can be an access network device, a terminal device, or a chip in the access network device, a chip in the terminal device. The second communication device can be a data collection node, which is a node for collecting perception data for training a perception model. The data collection node can be an access network device, a terminal device, or a chip in the access network device, a chip in the terminal device, and can be a server.

[0155] The perception method provided by the embodiment of the present application can be applied to the process of collecting perception data when training or reasoning a perception model.

[0156] FIG. 1B is a schematic diagram of a scenario in a perception model training process.

[0157] As shown in FIG. 1B, the communication system includes a perception node and a data collection node, where there can be multiple perception nodes, and of course, there can also be multiple data collection nodes, and FIG. 1B only illustrates one as an example.

[0158] In the perception model training process, the data collection node can issue a data collection indication to the perception node, the perception node can receive and process the echo signal to obtain perception data. The perception node can send the perception data to the data collection node.

[0159] After receiving a large amount of perception data, the data collection node can use the perception data as training samples to train the perception model. Of course, the data collection node can also send the received perception data to a model training node, which can use the perception data to train the perception model.

[0160] The trained perception model can be configured on the perception node, and the perception node can use the perception model to perform perception data inference to obtain a perception result.

[0161] In an embodiment of the present application, the format of the perception data can be understood with reference to Table 1 below.

[0162] Table 1: Format of perception data

[0163] In Table 1, the measurement parameter can be a field for indicating input information related to perception model training; the true value label can be a field for indicating input / output information related to perception model training; the quality accuracy indication can be an accuracy indication field related to the measurement parameter or / and the true value label; the time stamp is usually a time stamp, and the time information is usually used to mark the time of collecting the perception data, which can be used to screen the perception data of a suitable time period as training samples of the perception model. The configuration parameter is a field for indicating the configuration related to the perception data.

[0164] The perception model in the embodiments of this application can include one or more AI modules, which are used to implement corresponding AI functions. The AI modules deployed in different perception nodes can be the same or different. Different AI modules can implement different functions according to different parameter configurations. The model of an AI module can be configured based on one or more of the following parameters: a structural parameter (for example, at least one of the number of neural network layers, the width of the neural network, the connection relationship between layers, the weight of neurons, the activation function of neurons, or the bias in the activation function), an input parameter (for example, the type of input parameter and / or the dimension of input parameter), or an output parameter (for example, the type of output parameter and / or the dimension of output parameter). The bias in the activation function can also be referred to as the bias of the neural network.

[0165] One AI module can have one or more models. One model can infer an output, which includes one parameter or multiple parameters. The learning process, training process, or inference process of different models can be deployed in different nodes or devices, or can be deployed in the same node or device.

[0166] The neural network of an AI model can be a neural network composed of an embedding layer and a multi-layer perception (MLP), or a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a residual network, or other neural networks, etc.

[0167] In addition, the perception method provided by the embodiments of this application can be applied to a dual-base perception scenario or a single-base perception scenario. The dual-base perception scenario refers to a perception scenario with separate transmission and reception, that is, the transmitting end of the perception signal and the receiving end of the echo signal are not the same communication device. The single-base perception scenario refers to a perception scenario with integrated transmission and reception, that is, the transmitting end of the perception signal and the receiving end of the echo signal belong to the same communication device. The single-base perception scenario can also be referred to as a self-perception scenario.

[0168] The dual-basis sensing scenario can be understood with reference to FIG. 2A. As shown in FIG. 2A, the dual-basis sensing scenario includes two transmitting ends, four receiving ends, a sensing target, and a data collection node. The two transmitting ends are transmitting end Tx201 and transmitting end Tx202, respectively; the four receiving ends are receiving end Rx203, receiving end Rx204, receiving end Rx205, and receiving end Rx206, respectively; the sensing target can be various types of buildings or other objects; and the data collection node 207 can send data collection instructions to the receiving ends and receive sensing data from the receiving ends.

[0169] Transmitting end Tx201 transmits sensing signal SS1, and the echo signal ES1 generated by the building is received by receiving end Rx203.

[0170] Transmitting end Tx202 transmits SS2, and the echo signal ES2 generated by the building is received by receiving end Rx203; transmitting end Tx202 transmits SS3, and the echo signal ES3 generated by the building is received by receiving end Rx204; transmitting end Tx202 transmits SS4, and the echo signal ES4 generated by the building is received by receiving end Rx205, and the echo signal ES5 is received by receiving end Rx206.

[0171] It should be noted that SS2, SS3, and SS4 can be sensing signals transmitted by the same transmitting beam, and sensing signals in the range of the transmitting beam will generate echo signals in different directions when encountering buildings at different positions, such as ES2, ES3, ES4, and ES5. Different directions of the echo signals can be received by different receiving ends. Of course, SS2, SS3, and SS4 can also be sensing signals in different beams of transmitting end Tx202.

[0172] In the dual-basis sensing scenario, echo signals generated by sensing signals transmitted by the same transmitting end can be received by different receiving ends, such as ES2 received by receiving end Rx203, ES3 received by receiving end Rx204, ES4 received by receiving end Rx205, and ES5 received by receiving end Rx206. Echo signals generated by sensing signals transmitted by different transmitting ends can also be received by the same receiving end, such as ES1 and ES2 both received by receiving end Rx203. Of course, echo signals generated by sensing signals transmitted by the same transmitting end can also be received only by the same receiving end. The correspondence between the transmitting end and the receiving end is not limited by the present application, and is related to the number of transmitting ends or receiving ends in a certain area. Regardless of which scenario, the receiving end can determine the sensing data according to the echo signals received by each receiving end, and of course, the receiving end can also send relevant data in the received echo signals to other communication devices, and the other communication devices determine the sensing data.

[0173] The receiving end sends the determined sensing data SD to the data collection node 207, for example, the receiving end Rx 203 sends SD1 to the data collection node, the receiving end Rx 204 sends SD2 to the data collection node, the receiving end Rx 205 sends SD3 to the data collection node, and the receiving end Rx 206 sends SD4 to the data collection node. The data collection node 207 can train the sensing model according to SD1, SD2, SD3 and SD4, or send SD1, SD2, SD3 and SD4 to other nodes or devices dedicated to training the sensing model.

[0174] The single-base sensing scenario can be understood with reference to FIG. 2B. As shown in FIG. 2B, the single-base sensing scenario can include four measurement nodes, a data collection node 207 and a sensing target. The four measurement nodes are measurement node 211, measurement node 212, measurement node 213 and measurement node 214. The measurement nodes can both transmit sensing signals and receive echo signals.

[0175] When the measurement nodes measure the sensing target in the environment, they can transmit one or more beams, and the sensing signals SS on the one or more beams can detect different positions of the sensing target. Then the measurement nodes receive the corresponding echo signals ES, and can determine the sensing data according to the ES. Of course, the measurement nodes can also send the relevant data in the received echo signals to other communication devices, and the other communication devices can determine the sensing data.

[0176] As shown in FIG. 2B, the measurement node 211 transmits SS1, receives ES1, and determines the sensing data SD1 according to ES1; the measurement node 212 transmits SS2, receives ES21, and determines the sensing data SD2 according to ES2; the measurement node 213 transmits SS3, receives ES31, and determines the sensing data SD3 according to ES3; the measurement node 214 transmits SS4, receives ES41, and determines the sensing data SD4 according to ES4; after the four measurement nodes calculate the sensing data, they send their respective sensing data SD1, SD2, SD3 and SD4 to the data collection node 207. Then the data collection node 207 can train the sensing model according to SD1, SD2, SD3 and SD4, or send SD1, SD2, SD3 and SD4 to other nodes or devices dedicated to training the sensing model.

[0177] In addition, it should be noted that in the scenarios described in FIGS. 2A and 2B, there are multiple receiving ends, transmitting ends or measurement nodes. In fact, there can be one receiving end, one transmitting end or one measurement node. The angles of the receiving end, the transmitting end or the measurement node can be adjusted to measure different positions of the sensing target. Therefore, the number of receiving ends, transmitting ends or measurement nodes is not limited in this application, and can be one or more.

[0178] In the scenario described in FIG. 2A and FIG. 2B, the receiving end, the transmitting end, or the measurement node can be referred to as a sensing node. The receiving end, the transmitting end, or the measurement node can be a terminal device or an access network device. The data collection node can be a terminal device, an access network device, or a server. In this application, the specific forms of the receiving end, the transmitting end, the measurement node, and the data collection node shown in FIG. 2A and FIG. 2B are not limited.

[0179] The terminal device and the access network device of the present application are described below.

[0180] The terminal device can be a wireless terminal device capable of receiving scheduling and indication information of the access network device. The wireless terminal device can be a device providing voice and / or data connectivity to a user, or a handheld device with wireless connectivity, or other processing devices connected to a wireless modem, or a device with sensing function.

[0181] The terminal device, also known as user equipment (UE), mobile station (MS), mobile terminal (MT), etc., is a device including wireless communication function and / or sensing function (providing voice or data connectivity to a user), such as a handheld device with wireless connectivity, or a vehicle-mounted device, etc. Currently, some examples of terminal devices are: mobile phone, tablet computer, notebook computer, palm computer, unmanned aerial vehicle, mobile internet device (MID), wearable device, virtual reality (VR) device, augmented reality (AR) device, wireless terminal in industrial control, wireless terminal in Internet of Vehicles, wireless terminal in self driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, or wireless terminal in smart home, etc. For example, the wireless terminal in Internet of Vehicles can be a vehicle-mounted device, a whole vehicle device, a vehicle-mounted module, a vehicle, etc. The wireless terminal in industrial control can be a camera, a robot, etc. The wireless terminal in smart home can be a television, an air conditioner, a sweeping robot, a sound box, a set-top box, etc.

[0182] An access network device is a device deployed in a wireless access network to provide wireless communication function and / or sensing function for terminal devices. For example, the access network device can be a radio access network (RAN) node for connecting terminal devices to a wireless network. The access network device can also be a device deployed in a wireless access network that can communicate with other access network devices, and can provide wireless communication function and / or sensing function between access network devices.

[0183] 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 (e.g., a home evolved NodeB or a home Node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (WIFI) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), or a transmission and reception point (TRP), etc., and can also be an access network device in a 5G mobile communication system. For example, a next generation NodeB (gNB) in a new radio (NR) system, a transmission reception point (TRP), a transmission point (TP), or one or a group of (including multiple antenna panels) antenna panels of a base station in a 5G mobile communication system; or the access network device can also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU), etc.

[0184] In some deployments, a gNB can include a centralized unit (CU) and a DU. The gNB can also include an active antenna unit (AAU). The CU implements part of the functions of the gNB, and the DU implements part of the functions of the gNB. For example, the CU is responsible for processing non-real-time protocols and services, implementing the radio resource control (RRC), and the functions of the packet data convergence protocol (PDCP) layer. The DU is responsible for processing the physical layer protocol and real-time services, implementing the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. The AAU implements part of the physical layer processing functions, radio frequency processing, and related functions of the active antenna. The information of the RRC layer will eventually become the information of the PHY layer, or be converted from the information of the PHY layer. Therefore, under this architecture, high-layer signaling (such as RRC layer signaling) can also be considered as being sent by the DU, or being sent by the DU and the AAU. It can be understood that the access network device can be a device including one or more of the CU node, the DU node, and the AAU node. In addition, the CU can be divided into an access network device in the radio access network (RAN), or can be divided into an access network device in the core network (CN), which is not limited in the present application.

[0185] The communication system and the application scenario of the scheme of the present application are introduced above, and the sensing method provided by the embodiments of the present application is introduced below in combination with the interaction process of the first communication device and the second communication device. The first communication device and the second communication device can be understood by referring to the previous introduction.

[0186] As shown in FIG. 3, the sensing method provided by the embodiments of the present application includes:

[0187] S301. The second communication device sends first information to the first communication device. Correspondingly, the first communication device receives the first information from the second communication device.

[0188] The first information is used to instruct the first communication device to perform a processing related to the sensing quality on the first sensing data. The processing related to the sensing quality can include: determining the sensing quality of the first sensing data, determining whether the sensing quality of the first sensing data meets the sensing quality requirement, or determining at least one of the first parameters used to determine the sensing quality of the first sensing data.

[0189] In this application, there may be one or more first sensing data. When there are multiple first sensing data, the same sensing quality-related processing procedure can be performed on each first sensing data.

[0190] S302. The first communication device performs processing related to the sensing quality on the first sensing data based on the first information.

[0191] S303. The first communication device sends second sensing data to the second communication device. Correspondingly, the second communication device receives the second sensing data from the first communication device.

[0192] The second perception data is part or all of the first perception data whose perception quality meets the perception quality requirements. The perception quality of the first perception data is determined by the perception quality strategy information.

[0193] In this application, there may be one or more second sensing data, and the second sensing data may be a subset of the first sensing data. Of course, if each first sensing data satisfies the sensing quality requirements, then the second sensing data is the complete set of the first sensing data.

[0194] In this application, the perceived quality requirement can be one or more perceived quality thresholds. For example, if the perceived quality of the perceived data is greater than the perceived quality threshold, then the perceived quality of the perceived data meets the perceived quality requirement.

[0195] In this application, the strategy information for perceived quality refers to the strategy used to determine the perceived quality of perceived data. It can be represented by a function or given in a table. This application does not limit the specific form of the strategy for perceived quality.

[0196] The perceived quality strategy information may include data fields related to the training of the perceived model, as well as the quality assessment strategies corresponding to those data fields. The perceived quality strategy information can be understood by referring to Table 2 below, which is presented in tabular form.

[0197] Table 2: Strategy Information for Perceived Quality

[0198] The meanings of each data field in Table 2 can be understood by referring to the corresponding explanations in Table 1. Specifically, the measurement parameters and truth labels are related to accuracy, time information is related to timeliness, and configuration parameters are related to diversity. Table 2 as a whole also reflects completeness.

[0199] In Table 2, v acc1 To measure the perceived quality corresponding to the parameter field, snr represents the signal-to-noise ratio (SNR) of the echo signal, L e This represents the position error of the sensing node; from vacc1 = F(snr, L e ) can be known, the first communication device can determine the sensing quality v acc1 of the measurement parameter field after obtaining the signal-to-noise ratio of the first sensing data and the position error of the corresponding sensing node.

[0200] Similarly, the first communication device can determine the sensing quality v acc2 of the true value label field through v acc2 = F(label). In Table 2, v tim represents the timeliness of the sensing data. v div is related to the imaging area (which can also be referred to as a region of interest (ROI)), the receiving antenna position and / or the number of receiving antennas (Rx), the transmitting antenna position and / or the number of transmitting antennas (Tx), the bandwidth (B), and the frequency band (f). The first communication device can determine the sensing quality v div of the configuration parameter field through v div = F(ROI, Rx, Tx, B, f).

[0201] Of course, the sensing quality of the configuration parameter field is not limited to the representation in Table 2. Different configuration parameters can have corresponding sensing quality relations, such as: v div，ROI = F(ROI); v div，Rx = F(Rx); v div，Tx = F(Tx); v div，B = F(B); and v div，f = F(f).

[0202] In addition, it should be noted that the quality evaluation strategy corresponding to the configuration parameter can be given in the form of the above-mentioned relation of a single configuration parameter, or in the form of a relation of multiple configuration parameters jointly, or in other forms. For example, taking the bandwidth as an example,

[0203] Table 3: Sensing quality table of bandwidth

[0204] In Table 3, when the bandwidth is B0, the sensing quality of the bandwidth is v div，0 , when the bandwidth is B1, the sensing quality of the bandwidth is v div，1 , and when the bandwidth is B m , the sensing quality of the bandwidth is v div，mThat is, the perceptual quality corresponding to different bandwidths can be determined by referring to Table 3. Of course, this is only an example of bandwidth, and other configuration parameters, such as ROI, Tx, Rx, or f, can be given in the form of Table 3 to give the perceptual quality corresponding to different values of ROI, Tx, Rx, or f.

[0205] Of course, in this application, the way of determining the perceptual quality such as Table 3 is not limited to being given for a single configuration parameter, but can also be given for multiple configuration parameters to give the corresponding joint perceptual quality, which can be understood by referring to Table 4.

[0206] Table 4: Perceptual quality table of multiple configuration parameters

[0207] In Table 4, taking the first row as an example, when the ROI belongs to R0, the Rx position belongs to RL0, the Tx position belongs to TL0, the number of Rx antennas is Rn0, the number of Tx antennas is Tn0, the bandwidth is B0, and the frequency band is {f 00 ,f 01 ,….f 0n}, the perceptual quality of the configuration parameter field is v div，0 . Similarly, each row represents the joint perceptual quality of the corresponding multiple configuration parameters.

[0208] In this application, for the measurement parameters in Table 2, the accuracy of the perceptual data needs to be evaluated, and the accuracy of the perceptual data is related to the SNR and the position error of the perceptual node. The relationship between the accuracy of the perceptual data and the SNR and the accuracy of the perceptual data and the position error of the perceptual node can be understood by referring to Figures 4A and 4B.

[0209] As shown in Figure 4A, the functional relationship between the accuracy of the perceptual data and the SNR is basically an increasing function, and the accuracy of the perceptual data increases with the increase of the SNR, and when the SNR reaches a certain degree, the accuracy of the perceptual data also tends to be stable.

[0210] As shown in Figure 4B, the functional relationship between the accuracy of the perceptual data and the position error of the perceptual node is basically a decreasing function, and the accuracy of the perceptual data decreases with the increase of the position error of the perceptual node, and when the position error of the perceptual node reaches a certain degree, the accuracy of the perceptual data is basically 0.

[0211] From the above relationship of Figures 4A and 4B, it can be seen that when obtaining the SNR and the position error of the perceptual node, the SNR and the position error of the perceptual node with higher accuracy can be obtained as much as possible.

[0212] The ground-truth labels in Table 2 above can be collected by active reflectors or estimated from the first perception data. The scene collected by active reflectors can be understood with reference to FIG. 5, which shows that the active reflectors are used as perception targets, so that the collected information about the scattering points (at least one of the position, amplitude, energy, or speed of the scattering points), geometric information (at least one of the shape or center of the polygon or polyhedron), and object material information (at least one of the material, texture, color, or electromagnetic parameter) are based on the true value, which improves the accuracy of the ground-truth labels.

[0213] The information about the scattering points, the geometric information, or the object material information can also be estimated from the first perception data. However, the accuracy of the ground-truth labels estimated in this way is lower than that of the ground-truth labels collected by active reflectors, but the first perception data is widely available, which can improve the collection range of the first perception data.

[0214] The timestamps in Table 2 are used to evaluate the timeliness. The timeliness is high when the time at which the perception data is generated meets the time requirements of the data collection node.

[0215] The configuration parameters in Table 2 are used to evaluate the diversity. As can be seen from Table 2, the configuration parameters can include multiple types, and the number of configuration parameters of different types is usually different. In order to achieve the balance of different types of data, the collection amount of one or more types of data can be adjusted by adjusting the perception quality of different types of configuration parameters.

[0216] In this application, for the first type of configuration parameter, the probability density of the first type of configuration parameter can be determined first. The probability density of the first type of configuration parameter can be the ratio of the number of the first type of configuration parameter to the total number of configuration parameters of multiple types. In this application, the probability density of the first type of configuration parameter can be configured to be negatively correlated with the perception quality of the first type of configuration parameter. In this way, if the probability density of the first type of configuration parameter is small, indicating that the number of the first type of configuration parameter is small, the first type of configuration parameter can be configured with a higher perception quality. In this way, it is beneficial to subsequent collection of configuration parameters, and the collection amount of the first type of configuration parameter is improved, thereby achieving the balance of data of various types of configuration parameters.

[0217] The above introduces the strategy information of the perception quality. The strategy information of the perception quality can be used to determine the perception quality of the first perception data. After the perception quality is determined, the first perception data with the perception quality meeting the perception quality requirement can be filtered from the first perception data by using the perception quality of the first perception data and the perception quality requirement.

[0218] In the embodiments of the present application, the perception quality requirement can be one or more threshold values of the perception quality. The perception quality requirement can be a requirement for the perception quality of the aggregated data fields of the perception data, or a requirement for the perception quality corresponding to each data field, which is not limited in the present application. The perception quality of the aggregated data fields can be referred to as the perception quality of the perception data.

[0219] In the embodiments of the present application, the perception quality of the first perception data can be represented as: v = m acc1 *v acc1 +m acc2 *v acc2 +m div *v div +m tim *v tim ;

[0220] wherein v represents the perception quality of the first perception data; v acc1 represents the perception quality of the data field of the measurement parameter, m acc1 represents the weight of the data field of the measurement parameter; v acc2 represents the perception quality of the data field of the true value label, m acc2 represents the weight of the data field of the true value label; v div represents the perception quality of the data field of the configuration parameter, m div represents the weight of the data field of the configuration parameter; v tim represents the perception quality of the data field of the timestamp, m tim represents the weight of the data field of the timestamp; wherein the weight is used to indicate the proportion of the perception quality of the data field in the perception quality of the first perception data.

[0221] The weight of each data field can be carried in the policy information, or can be a default value taken by the first communication device.

[0222] If the second perception data is screened through the perception quality of the first perception data, the perception quality requirement can configure a threshold value v th , that is, the first perception data with v>v th can be determined as the second perception data.

[0223] If the second perception data is screened through the perception quality of the data field, the perception quality requirement can need to configure multiple threshold values, and then compare the perception quality of each data field with the corresponding threshold value, and then select the first perception data with one or more data fields whose perception quality is greater than the corresponding threshold value as the second perception data.

[0224] In the scheme provided by the embodiment, the first communication device can filter second perception data satisfying the perception quality requirement from the first perception data based on the first information sent by the second communication device. In this way, using the second perception data to train the perception model can improve the efficiency and effect of training the perception model, and further improve the accuracy of inference of the perception model.

[0225] When the content of the first information is different, the processing performed on the first perception data by S302 is different, which will be introduced below in different cases.

[0226] I. The first information includes policy information of perception quality and perception quality requirement;

[0227] As shown in FIG. 6, the perception method in this case includes:

[0228] S601. The data collection node sends policy information of perception quality and perception quality requirement to the perception node. Correspondingly, the perception node receives the policy information of perception quality and the perception quality requirement from the data collection node.

[0229] The policy information of perception quality can be understood with reference to Table 5.

[0230] Table 5: Policy information of perception quality

[0231] Compared with Table 2, Table 5 adds a third column, i.e., the weight corresponding to each data field.

[0232] S602. The perception node determines the perception quality of the first perception data according to the policy information of perception quality.

[0233] In the embodiment of the application, the perception node determining the perception quality of the first perception data can be determining the perception quality corresponding to each data field first, such as: with reference to the quality evaluation policy corresponding to each data field in Table 5, determining v acc1 , v acc2 , v tim , and v div first. Then the perception quality of the first perception data is determined through the following relationship: v = m acc1 *v acc1 +m acc2 *v acc2 +m div *v div +m tim *v tim ;

[0234] Regarding the determination of v acc1 , v acc2 , v tim , and v divThe determination process and the meanings of the parameters in v can be understood by referring to the corresponding contents in the embodiment of FIG. 3, which will not be repeated here.

[0235] S603. The sensing node determines whether the sensing quality of the first sensing data meets the sensing quality requirement. If yes, S604 is performed, and if not, S605 can be performed.

[0236] The process can be that the sensing node compares v with v th If v>v th , it can be determined that the sensing quality of the first sensing data meets the sensing quality requirement; if v th , it can be determined that the sensing quality of the first sensing data does not meet the sensing quality requirement.

[0237] S604. The sensing node sends the second sensing data to the data collection node. Correspondingly, the data collection node receives the second sensing data from the sensing node.

[0238] The second sensing data is part or all of the first sensing data whose sensing quality meets the sensing quality requirement.

[0239] S605. The sensing node deletes the first sensing data whose sensing quality does not meet the sensing quality requirement.

[0240] The sensing node timely deletes the first sensing data whose sensing quality does not meet the sensing quality requirement, which can release the memory of the sensing node.

[0241] After the data collection node receives the second sensing data, S606 can be performed, or S607 is performed.

[0242] S606. The data collection node trains the sensing model using the second sensing data.

[0243] S607. The data collection node sends the second sensing data to the model training node. Correspondingly, the model training node receives the second sensing data from the data collection node.

[0244] S608. The model training node trains the sensing model using the second sensing data.

[0245] After the sensing model is trained, the model training node can send the trained sensing model to the sensing node, so that the sensing node can use the trained sensing model to process subsequent echo signals.

[0246] In the embodiments of the present application, because the second sensing data is the better quality first sensing data filtered from the first sensing data according to the sensing quality strategy information and the sensing quality requirement. Therefore, the sensing model trained using the second sensing data can improve the training efficiency and quality of the sensing model.

[0247] In addition, the process of the embodiment shown in FIG. 6 can be that, if the third column in Table 5 is not included, i.e., the weight is not included, the weight of each data field is defaulted to 1 when the sensing quality of the first sensing data is determined in S602.

[0248] II. The first information includes policy information of the sensing quality, and does not include the sensing quality requirement;

[0249] As shown in FIG. 7, the sensing method in this case includes:

[0250] S701. The data collection node sends the policy information of the sensing quality to the sensing node. Correspondingly, the sensing node receives the policy information of the sensing quality from the data collection node.

[0251] S702. The sensing node determines the sensing quality of the first sensing data according to the policy information of the sensing quality.

[0252] The process can be understood by referring to the description of S602 above.

[0253] S703. The sensing node sends the sensing quality of the first sensing data to the data collection node. Correspondingly, the data collection node receives the sensing quality of the first sensing data from the sensing node.

[0254] S704. The data collection node determines whether the sensing quality of the first sensing data meets the sensing quality requirement. If part or all of the sensing quality of the first sensing data meets the sensing quality requirement, S705 is performed.

[0255] The process can be that the data collection node compares v with v th If v>v th , it can be determined that the sensing quality of the first sensing data meets the sensing quality requirement; if v th , it can be determined that the sensing quality of the first sensing data does not meet the sensing quality requirement.

[0256] If the sensing quality of all the first sensing data does not meet the sensing quality requirement, the data collection node can send an indication information to the sensing node, and the indication information is used to indicate that the sensing quality of the first sensing data does not meet the sensing quality requirement. In this way, the sensing node can delete the first sensing data according to the indication information.

[0257] S705. The data collection node sends a sensing data request to the sensing node, and the sensing data request is used to indicate that the sensing quality of the second sensing data meets the sensing quality requirement. Correspondingly, the sensing node receives the sensing data request from the data collection node.

[0258] The data collection node sends a sensing data request, which carries the identification and index of the second sensing data, to instruct the sensing node to send the second sensing data.

[0259] S706. The sensing node filters the second sensing data from the first sensing data according to the sensing data request.

[0260] S707. The sensing node sends the second sensing data to the data collection node. Correspondingly, the data collection node receives the second sensing data from the sensing node.

[0261] S708 to S710 can be understood with reference to S606 to S608 described above.

[0262] The sensing scheme provided by the embodiments of the present application is beneficial to managing the sensing quality requirement and reducing the risk of leaking the sensing quality requirement in the transmission process, because the sensing node sends the sensing quality of the first sensing data to the data collection node, and the data collection node judges whether the sensing quality requirement is met.

[0263] III. The first information includes parameter indication information, and the parameter indication information is used to indicate a first parameter for determining the sensing quality of the first sensing data.

[0264] As shown in FIG. 8, the sensing method in this case includes:

[0265] S801. The data collection node sends parameter indication information to the sensing node. Correspondingly, the sensing node receives the parameter indication information from the data collection node.

[0266] The first parameter indicated by the parameter indication information is a subset of parameters required for determining the sensing quality of the first sensing data. As introduced above, the parameters required for determining the sensing quality of the first sensing data usually include SNR, position error of the sensing node, ROI, position of the receiving antenna, number of the receiving antenna, position of the transmitting antenna, number of the transmitting antenna, bandwidth and frequency, etc. Some of the parameters may be known by the data collection node, for example, the data collection node may know the position of the sensing node, the bandwidth and the frequency, etc. Therefore, when sending the parameter indication information, the data collection node only needs to send the unknown parameter request, for example, the unknown SNR and ROI, etc. In this way, the demand of the data collection node for determining the sensing quality can be met, and the amount of data transmitted between the sensing node and the data collection node can be reduced.

[0267] S802. The sensing node determines the first parameter according to the parameter indication information.

[0268] S803. The sensing node sends the first parameter to the data collection node. Correspondingly, the data collection node receives the first parameter from the sensing node.

[0269] S804. The data collection node determines the perception quality of the first perception data according to the first parameter and the policy information of the perception quality.

[0270] This step can be understood by referring to the introduction of S602 part described above. The first parameter, such as SNR and ROI, and the known parameters of the perception node, such as position, bandwidth and frequency, are substituted into the corresponding relationship formula in Table 5 to determine v acc1 , v acc2 , v tim , and v div respectively. Then the perception quality of the first perception data is determined through the relationship formula v = m acc1 *v acc1 + m acc2 *v acc2 + m div *v div + m tim *v tim .

[0271] S805. The data collection node determines whether the perception quality of the first perception data meets the perception quality requirement. If it meets, if part or all of the perception quality of the first perception data meets the perception quality requirement, S806 is executed.

[0272] S806. The data collection node sends a perception data request to the perception node, and the perception data request is used to indicate that the perception quality of the second perception data meets the perception quality requirement. Correspondingly, the perception node receives the perception data request from the data collection node.

[0273] S807. The perception node screens the second perception data from the first perception data according to the perception data request.

[0274] S808. The perception node sends the second perception data to the data collection node. Correspondingly, the data collection node receives the second perception data from the perception node.

[0275] S809 to S811 can be understood by referring to S606 to S608 described above.

[0276] The perception scheme provided by the embodiments of the present application does not need to send the policy information of the perception quality and the perception quality requirement to the perception node when the first information includes the parameter indication information, which can reduce the risk of leakage of the policy information of the perception quality and the perception quality requirement in the transmission process.

[0277] The communication system and the sensing method in the embodiments of the present application are introduced above, and the communication device provided by the embodiments of the present application is described below. Referring to FIG. 9, FIG. 9 is a structural schematic diagram of a communication device according to an embodiment of the present application. The communication device 900 can be used to execute the steps in the embodiments shown in FIGS. 3 to 8, and details can be referred to the related description in the above method embodiments.

[0278] The communication device 900 includes a transceiver module 901 and a processing module 902. The transceiver module 901 can implement corresponding communication functions, and the processing module 902 is used for data processing. The transceiver module 901 can also be referred to as a communication interface or a communication unit.

[0279] Optionally, the communication device 900 can also include a storage unit, which can be used to store instructions and / or data. The processing module 902 can read the instructions and / or data in the storage unit, so that the communication device implements the above method embodiments.

[0280] The communication device 900 can be used to execute the actions in the above method embodiments. The communication device 900 can be a terminal device or an access network device, or a component or module configurable to a terminal device or an access network device. The transceiver module 901 is used to execute the receiving operations in the above method embodiments, and the processing module 902 is used to execute the processing operations in the above method embodiments.

[0281] Optionally, the transceiver module 901 can include a sending module and a receiving module. The sending module is used to execute the sending operations in the above method embodiments. The receiving module is used to execute the receiving operations in the above method embodiments.

[0282] It should be noted that the communication device 900 can include a sending module, but not a receiving module. Alternatively, the communication device 900 can include a receiving module, but not a sending module. Whether the sending module and the receiving module are included in the communication device 900 can depend on whether the sending action and the receiving action are included in the above scheme executed by the communication device 900.

[0283] As an example, the communication device 900 is used to execute the actions in the embodiment shown in FIG. 3.

[0284] The transceiver module 901 is configured to receive first information from a second communication device, the first information being used to instruct a first communication device to perform a processing related to a sensing quality on first sensing data;

[0285] The processing module 902 is configured to perform the processing related to the sensing quality on the first sensing data.

[0286] The transceiver module 901 is also used to send second sensing data to the second communication device. The second sensing data is part or all of the first sensing data whose sensing quality meets the sensing quality requirements. The sensing quality of the first sensing data is determined by the sensing quality strategy information.

[0287] It should be understood that the specific process of each module performing the above-mentioned steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0288] The processing module 902 in the above embodiments can be implemented by at least one processor or processor-related circuitry. The transceiver module 901 can be implemented by a transceiver or transceiver-related circuitry. The transceiver module 901 can also be referred to as a communication unit or communication interface. The storage unit can be implemented by at least one memory.

[0289] This application embodiment also provides another communication device 1000. As shown in FIG10, the communication device 1000 includes a processor 1010, the processor 1010 being coupled to a memory 1020, the memory 1020 being used to store computer programs or instructions and / or data, and the processor 1010 being used to execute the computer programs or instructions and / or data stored in the memory 1020, so that the methods in the above method embodiments are executed.

[0290] Optionally, the communication device 1000 may include one or more processors 1010.

[0291] Optionally, as shown in FIG10, the communication device 1000 may further include a memory 1020.

[0292] Optionally, the communication device 1000 may include one or more memory 1020.

[0293] Alternatively, the memory 1020 may be integrated with the processor 1010 or set separately.

[0294] Optionally, as shown in FIG10, the communication device 1000 may further include a transceiver 1030, which is used for receiving and / or transmitting signals. For example, the processor 1010 is used to control the transceiver 1030 to receive and / or transmit signals.

[0295] As one option, the communication device 1000 is used to implement the operations described in the above method embodiments.

[0296] For example, processor 1010 is used to implement processing-related operations in the above method embodiments, and transceiver 1030 is used to implement receiving-related operations in the above method embodiments.

[0297] The embodiment of the present application further provides a communication device 1000, which can be a terminal device or an access network device, and can also be a chip or a module in a terminal device or an access network device or a device of a core network. The communication device 1000 can be used to perform the operations in the method embodiments.

[0298] When the communication device 1000 is a communication device, FIG. 11 shows a simplified structural diagram of the communication device. As shown in FIG. 11, the communication device includes a processor, a memory, a transceiver, wherein the memory can store a computer program code, and the memory can further store an AI module, and the AI module is used to implement AI-related functions. The AI module can be implemented in a software, hardware, or software and hardware combined manner. For example, the AI module can be a near real-time access network intelligent controller (RIC) or a non-real-time RIC. The transceiver includes a transmitter 1031, a receiver 1032, a radio frequency circuit (not shown in the figure), an antenna 1033, and an input and output device (not shown in the figure). The processor is mainly used to process communication protocols and communication data, control the communication device, execute software programs, process data of the software programs, and the like. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used to convert baseband signals and radio frequency signals and process radio frequency signals. The antenna is mainly used to transceive radio frequency signals in the form of electromagnetic waves. The input and output device, such as a touch screen, a display screen, a keyboard, and the like, is mainly used to receive data input by a user and output data to the user. It should be noted that some types of communication devices can not have an input and output device.

[0299] 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 transmits the radio frequency signal in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For the sake of description, only one memory, one processor, and one transceiver are shown in FIG. 11. In actual communication device products, 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 arranged independently of the processor, or can be integrated with the processor. The embodiments of the present application do not limit this.

[0300] In the embodiments of the present application, the antenna and the radio frequency circuit with transceiving functions can be regarded as a transceiving unit of the communication device, and the processor with processing functions can be regarded as a processing unit of the communication device.

[0301] As shown in FIG. 11, the communication apparatus includes a processor 1010, a memory 1020 and a transceiver 1030. The processor 1010 can also be referred to as a processing unit, a processing board, a processing module, a processing device, etc. The transceiver 1030 can also be referred to as a transceiving unit, a transceiver, a transceiving device, etc.

[0302] Optionally, the device for implementing the receiving function in the transceiver 1030 can be regarded as a receiving unit, and the device for implementing the sending function in the transceiver 1030 can be regarded as a sending unit, i.e., the transceiver 1030 includes a receiver and a transmitter. The transceiver can also be referred to as a transceiver, a transceiving unit, or a transceiving circuit, etc. from time to time. The receiver can also be referred to as a receiver, a receiving unit, or a receiving circuit, etc. from time to time. The transmitter can also be referred to as a transmitter, a transmitting unit, or a transmitting circuit, etc. from time to time.

[0303] For example, in an implementation manner, the processor 1010 is configured to perform the processing actions in the embodiment shown in FIG. 3, and the transceiver 1030 is configured to perform the transceiving actions in FIG. 3. For example, the transceiver 1030 is configured to perform the transceiving operation of step S301 in the embodiment shown in FIG. 3. The processor 1010 is configured to perform the processing operation of steps S302 and S303 in the embodiment shown in FIG. 3.

[0304] It should be understood that FIG. 11 is merely an example and not a limitation. The above communication apparatus including a transceiving unit and a processing unit can not depend on the structure shown in FIG. 11.

[0305] When the communication apparatus 1000 is a chip, the chip includes a processor, a memory and a transceiver. The transceiver can be an input / output circuit or a communication interface; the processor can be a processing unit or a microprocessor integrated on the chip or an integrated circuit. The sending operation of the communication apparatus in the above method embodiments can be understood as the output of the chip, and the receiving operation of the communication apparatus in the above method embodiments can be understood as the input of the chip.

[0306] The embodiments of the present application also provide a computer readable storage medium having stored thereon computer instructions for implementing the method in the above method embodiments.

[0307] For example, the computer program is executed by a computer, so that the computer can implement the method executed in the above method embodiments.

[0308] The embodiments of the present application also provide a computer program product including instructions, which are executed by a computer to make the computer implement the method executed in the above method embodiments.

[0309] The embodiments of the present application also provide a communication system including the access network device and the terminal device in the above embodiments.

[0310] The embodiment of the present application further provides a chip device, comprising a processor, configured to invoke computer degrees or computer instructions stored in a memory, so that the processor executes the method of the embodiments shown in FIG. 3 to FIG. 8.

[0311] In a possible implementation manner, the input of the chip device corresponds to the receiving operation in the embodiments shown in FIG. 3 to FIG. 8, and the output of the chip device corresponds to the sending operation in the embodiments shown in FIG. 3 to FIG. 8.

[0312] Optionally, the processor is coupled with the memory through an interface.

[0313] Optionally, the chip device further comprises a memory, and the memory stores computer degrees or computer instructions.

[0314] 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 executing programs to control the method of the embodiments shown in FIG. 3 to FIG. 8. 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.

[0315] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the explanation and beneficial effects of the related content in any of the above communication devices can refer to the corresponding method embodiments provided above, and will not be repeated here.

[0316] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0317] In the 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 only schematic. The division of the units is only a logical function division. There can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0318] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0319] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, 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.

[0320] 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 such understanding, the technical solutions of the present application essentially make contributions or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various media that can store program codes.

Claims

1. A perception method, comprising: The method is applied to a first communication device, and the method comprises: receiving first information from a second communication device, the first information being used to instruct the first communication device to perform processing related to a sensing quality on first sensing data; sending second sensing data to the second communication device, the second sensing data being part or all of the first sensing data whose sensing quality meets a sensing quality requirement, the sensing quality of the first sensing data being determined by policy information of the sensing quality.

2. The method of claim 1, wherein, The first information comprises the policy information of the sensing quality, and the policy information is used for the first communication device to determine the sensing quality of the first sensing data.

3. The method of claim 2, wherein, The policy information comprises a data field related to training of a sensing model, and a quality evaluation policy corresponding to the data field.

4. The method of claim 3, wherein, The data field comprises at least one of fields used to indicate input information, output information, time information or configuration parameters related to training of the sensing model.

5. The method according to claim 3 or 4, characterized in that, The policy information further comprises a weight corresponding to the data field, and the weight is used to indicate a proportion of the sensing quality of the data field in the sensing quality of the first sensing data.

6. The method according to any one of claims 2-5, characterized in that, The first information further comprises the sensing quality requirement, and the sensing quality requirement is used for the first communication device to determine whether the sensing quality of the first sensing data meets the sensing quality requirement.

7. The method according to any one of claims 2-5, characterized in that, Before sending the second sensing data to the second communication device, the method further comprises: sending the sensing quality of the first sensing data to the second communication device, the sensing quality of the first sensing data being used for the second communication device to determine whether the sensing quality of the first sensing data meets the sensing quality requirement; receiving a sensing data request from the second communication device, the sensing data request being used to indicate that the sensing quality of the second sensing data meets the sensing quality requirement.

8. The method of claim 1, wherein, The first information comprises parameter indication information, and the parameter indication information is used to indicate a first parameter used to determine the sensing quality of the first sensing data. Correspondingly, before sending the sensing data meeting the sensing quality requirement to the second communication device, the method further comprises: sending the first parameter to the second communication device, the first parameter being used for the second communication device to determine the sensing quality of the first sensing data and to determine whether the sensing quality of the first sensing data meets the sensing quality requirement; receiving a sensing data request from the second communication device, the sensing data request being used to indicate that the sensing quality of the second sensing data meets the sensing quality requirement.

9. The method of claim 8, wherein, The first parameter is a subset of parameters required to determine the sensing quality of the first sensing data.

10. The method of claim 4, wherein, The output information is collected by an active reflector or obtained by estimating the first sensing data.

11. The method of claim 4, wherein, The configuration parameters comprise a plurality of types, wherein a probability density of a first type of configuration parameter is negatively correlated with a sensing quality of the first type of configuration parameter, the probability density of the first type of configuration parameter being used to indicate a proportion of the first type of configuration parameter in the plurality of types of configuration parameters, the first type being any one of the plurality of types.

12. A perception method comprising: The method comprises: sending first information to the first communication device, the first information being used to instruct the first communication device to perform processing related to sensing quality on first sensing data; receiving second sensing data from the first communication device, the second sensing data being part or all of the first sensing data whose sensing quality meets a sensing quality requirement, the sensing quality of the first sensing data being determined by policy information of the sensing quality.

13. The method of claim 12, wherein, The first information includes the policy information of the sensing quality, and the policy information is used by the first communication device to determine the sensing quality of the first sensing data.

14. The method of claim 13, wherein, The policy information includes a data field related to sensing model training, and a quality evaluation policy corresponding to the data field.

15. The method of claim 14, wherein, The data field includes at least one of the fields used to indicate input information, output information, time information or configuration parameters related to the sensing model training.

16. The method according to claim 14 or 15, characterized in that The policy information further includes a weight corresponding to the data field, and the weight is used to indicate the proportion of the sensing quality of the data field in the sensing quality of the first sensing data.

17. The method according to any one of claims 13-16, characterized by, The first information further includes the sensing quality requirement, and the sensing quality requirement is used by the first communication device to determine whether the sensing quality of the first sensing data meets the sensing quality requirement.

18. The method according to any one of claims 13-16, characterized by, Before receiving the second sensing data from the first communication device, the method further includes: receiving the sensing quality of the first sensing data from the first communication device, the sensing quality of the first sensing data being used to determine whether the sensing quality of the first sensing data meets the sensing quality requirement; sending a sensing data request to the first communication device, the sensing data request being used to instruct the sensing quality of the second sensing data to meet the sensing quality requirement.

19. The method of claim 12, wherein, The first information includes parameter indication information, and the parameter indication information is used to indicate a first parameter used to determine the sensing quality of the first sensing data. Before receiving the second sensing data from the first communication device, the method further includes: receiving the first parameter from the first communication device, the first parameter being used to determine the sensing quality of the first sensing data and determine whether the sensing quality of the first sensing data meets the sensing quality requirement; sending a sensing data request to the first communication device, the sensing data request being used to instruct the sensing quality of the second sensing data to meet the sensing quality requirement.

20. The method of claim 19, wherein, The first parameter is a subset of parameters required to determine the sensing quality of the first sensing data.

21. A communications device, characterized by Comprise: a transceiver module and a processing module, the transceiver module is used to perform the sending step or the receiving step in the method of any one of claims 1-20; the processing module is used to perform the steps in the method of any one of claims 1-20 other than the sending step and the receiving step.

22. A communications device, characterized by Comprise at least one processor coupled with a memory; the memory is used to store programs or instructions; the at least one processor is used to execute the programs or instructions to enable the device to implement the method of any one of claims 1-20.

23. A chip device, characterized by including a processor to invoke a program stored in a memory to cause the processor to perform the method of any of claims 1 to 20.

24. The chip device of claim 23, wherein, The chip device further includes the memory.

25. A computer readable storage medium, characterized in that, The computer readable storage medium stores program instructions that, when executed, cause the method of any of claims 1 to 20 to be performed.

26. A computer program product comprising program instructions, characterized in that, The computer readable storage medium stores program instructions that, when executed, cause the method of any of claims 1 to 20 to be performed. The computer readable storage medium stores program instructions that, when executed, cause the method of any of claims 1 to 20 to be performed.

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