Sensing method, and apparatus

Abstract

A sensing method and an apparatus. The method comprises: on the basis of a measurement result of a received first signal and a first density, a first apparatus determines first point cloud information corresponding to a first sensing target; and the first apparatus sends first information, the first information comprising the first point cloud information. For example, the first density can be set reasonably, such that the first point cloud information can be used for sensing a target object, and the amount of information of the first point cloud information will also not be excessively large, thereby reducing the transmission overhead of the first point cloud information on the premise of ensuring the sensing performance.

Description

A sensing method and apparatus

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese Patent Application No. 202410720743.X, filed on June 3, 2024, and entitled "A sensing method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular to a sensing method and apparatus. BACKGROUND

[0004] For sensing services, such as environmental imaging or reconstruction application scenarios, the reflection, scattering or diffraction of signals transmitted by a user equipment (UE) or a base station on a sensing target when the signals propagate in space can be used to sense the position or shape of the sensing target in the environment. The base station or the UE can measure the signals reflected, scattered or diffracted by the sensing target and report the measurement results to a sensing network element, and the sensing network element can implement sensing of the sensing target based on the measurement results.

[0005] The measurement results reported by the base station or the UE can include point cloud information corresponding to the sensing target, and the point cloud information can include coordinates of the sensing target determined by measurement. For a sensing target, the point cloud information determined by the base station or the UE can include multiple coordinates of the sensing target, resulting in a large amount of information of the point cloud information, and thus resulting in a large transmission overhead of the point cloud information. SUMMARY

[0006] Embodiments of the present application provide a sensing method and apparatus for reducing the transmission overhead of point cloud information.

[0007] In a first aspect, a first sensing method is provided, which can be applied to a first device. Optionally, the first device is a terminal-side device, which is also referred to as a terminal device. The terminal device is, for example, a terminal apparatus, or another apparatus including a function of the terminal apparatus, or a circuit, or a chip system (or a chip, such as a modem chip, also referred to as a baseband chip, or a system on chip (SoC) chip or a system in package (SIP) chip including a modem core) or another functional module capable of implementing a function of the terminal apparatus, which is, for example, arranged in the terminal apparatus. Alternatively, the first device is a network-side device, which is also referred to as a network device. The network device is, for example, a network apparatus, or another apparatus including a function of the network apparatus, or a circuit, or a chip system (or a chip) or another functional module capable of implementing a function of the network apparatus, which is, for example, arranged in the network apparatus. The network apparatus includes, for example, a core network device and / or an access network device. The method includes: determining first point cloud information corresponding to a first sensing target according to a measurement result of a received first signal and a first density; and sending first information, where the first information includes the first point cloud information.

[0008] In the embodiments of the present application, the first device can determine the first point cloud information according to the first density, so that the amount of information of the first point cloud information can be controlled by the first density. For example, the first density can be set to be reasonable, so that the first point cloud information can be used to sense the target object, and the amount of information of the first point cloud information can be minimized, thereby reducing the transmission overhead of the first point cloud information while ensuring the sensing performance.

[0009] In an optional implementation, the determining of the first point cloud information corresponding to the first sensing target according to the measurement result of the received first signal and the first density includes: determining second point cloud information according to the measurement result; and determining the first point cloud information according to the second point cloud information and the first density. The first device can first obtain the second point cloud information, and then obtain the first point cloud information according to the first density, so that the density of the first point cloud information is the first density.

[0010] In an optional implementation, the first density is smaller than the density of the second point cloud information. For example, the density of the second point cloud information is large, and the first device can process the second point cloud information to reduce the density of the second point cloud information. Through such processing, the amount of information of the point cloud information (the first point cloud information) reported by the first device can be reduced, thereby reducing the transmission overhead.

[0011] In an optional implementation, the first density is less than a density of the second point cloud information, and the first point cloud information is obtained by clustering the points corresponding to the second point cloud information; or the first density is greater than the density of the second point cloud information, and the first point cloud information is obtained by interpolating the points corresponding to the second point cloud information. The density of the second point cloud information can be greater than the first density or less than the first density, and no matter whether the density of the second point cloud information is greater than the first density or less than the first density, it indicates that the density of the second point cloud information does not meet the reporting condition. Therefore, if the density of the second point cloud information is greater than the first density or less than the first density, the first device can process the first point cloud information. For example, if the density of the second point cloud information is greater than the first density, it indicates that the density of the second point cloud information is large, and the first device can perform clustering processing on the second point cloud information to reduce the density of the second point cloud information, or the first device can remove some points (for example, randomly remove, etc.) from the points corresponding to the second point cloud information to reduce the density of the second point cloud information. For another example, if the density of the second point cloud information is less than the first density, it indicates that the density of the second point cloud information is small, and the perception element can not be sufficient to perform perception according to the second point cloud information. Therefore, the first device can perform interpolation processing on the second point cloud information to increase the density of the second point cloud information. It can be seen that through the scheme of the embodiments of the present application, the first device can obtain point cloud information (the first point cloud information) meeting the reporting condition.

[0012] In an optional implementation, the first point cloud information is determined according to the second point cloud information and the first density, including: removing M points from the points corresponding to the second point cloud information, the accuracy of the M points being less than a first threshold, and M being a positive integer; and determining the first point cloud information meeting the first density according to information of the remaining points except the M points corresponding to the second point cloud information. The accuracy of the M points is less than the first threshold, which indicates that when the M points are used to perceive the first perception target, the perception result can be inaccurate. Therefore, the first device can remove the M points from the points corresponding to the second point cloud information to improve the accuracy of the determined first point cloud information, and further improve the perception accuracy.

[0013] In an optional implementation, the first information further indicates one or more of: a number of points corresponding to the first point cloud information, a number of points corresponding to the second point cloud information, a similarity of the first point cloud information to the first perception target, whether the points corresponding to the first point cloud information are obtained by interpolation, the points corresponding to the first point cloud information obtained by interpolation, whether the points corresponding to the first point cloud information are (or, comprise) edge points, the edge points corresponding to the first point cloud information, points of the first perception target that do not participate in determining the first point cloud information, or, a number of points of the first perception target that do not participate in determining the first point cloud information. The first device can provide more information to the perception network element to improve the perception accuracy of the perception network element.

[0014] In an optional implementation, the method further includes: receiving second information, the second information indicating the first density by one or more of: information of the first density; perception accuracy information; perception resolution information; or, a number of points. The first density is predefined by a protocol, or preconfigured in the first device, or can also be indicated by another network element (such as the perception network element), and this implementation is exemplified by the first device being indicated by another network element. For example, the second information can indicate the first density by one or more of the above, and the first device can determine the first density. Or, the first information indicates one or more of the above, and does not indirectly indicate the first density; the first device can determine one or more of the above according to the first information, and thus determine the first point cloud information satisfying one or more of the above (i.e., the first device can not determine the first point cloud information according to the first density, but determine the first point cloud information according to one or more of the above).

[0015] In an optional implementation, a density of edge point cloud information of the first perception target is different from the first density, and the first information further includes the edge point cloud information. The edge point cloud information of the perception target plays an important role in the perception process, such as better reconstructing the perception target according to the edge point cloud information. Therefore, the first device can not report the edge point cloud information of the first perception target according to the first density, for example, the first device can separately report the edge point cloud information, so that the perception network element can obtain more accurate edge point cloud information.

[0016] In an optional implementation, the method further includes: receiving third information, where the third information is used to indicate that the edge point cloud information of the first perception target is not reported according to the first density; or the third information is used to indicate that the edge point cloud information of the first perception target is reported according to a second density, and optionally, the second density is greater than the first density. The other network element (for example, the perception network element) can indicate the first device about how to report the edge point cloud information. For example, the indication is that the edge point cloud information is not reported according to the first density, in which case, the first device can determine the second density by itself, or the first device can not determine the density, but directly report the measured edge point cloud information. Alternatively, the third information can indicate the second density, or indicate that the edge point cloud information of the first perception target is reported according to the second density, and then the first device can determine the edge point cloud information that meets the second density. Optionally, the second density can be greater than the first density, which means that the first device can report more intensive edge point cloud information, so that the perception network element can obtain more abundant edge point information, to better perceive the perception target and improve the perception accuracy.

[0017] In an optional implementation, the first point cloud information includes the information of the edge point, or the first point cloud information does not include the information of the edge point. The information of the edge point includes, for example, the coordinates of the edge point. The first point cloud information can include the information of the edge point, for example, the first device can report the information of the edge point in the first point cloud information together, without separately reporting the edge point cloud information; or the first device can report the information of the edge point in the first point cloud information together, and also separately report the edge point cloud information. Alternatively, the first point cloud information can not include the information of the edge point, for example, the first device does not report the information of the edge point in the first point cloud information together, but separately reports the edge point cloud information, so that the perception network element is more clear about the edge point cloud information, and it is also helpful to reduce the transmission overhead.

[0018] In an optional implementation, the method further includes: receiving fourth information, where the fourth information is used to indicate that the first point cloud information is determined based on the first density, or the fourth information is used to indicate that the point cloud information is reported based on the scheme of the embodiments of the present application. The reporting manner of the embodiments of the present application can be used as a function, which can be turned on or turned off. For example, the function can be turned on under the indication of the other network element (for example, the perception network element), so that the application of the function is more in line with the current situation.

[0019] In a second aspect, a second awareness method is provided, which can be applied to an awareness network element, for example, a network device or a server, or other device including network device function or server, or a circuit, or a chip system (or, chip) or other functional module capable of realizing the function of the network device or server, for example, provided in the network device or server. The network device includes, for example, a core network device and / or an access network device. The method includes: sending second information, the second information being used to indicate a first density; and receiving first information, the first information including first point cloud information, the first point cloud information satisfying the first density, and the first point cloud information being point cloud information corresponding to a first awareness target.

[0020] In an optional implementation, the second information is used to indicate the first density by one or more of the following: information of the first density; awareness accuracy information; awareness resolution information; or, a number of points.

[0021] In an optional implementation, the method further includes: sending third information, wherein the third information is used to indicate that edge point cloud information of the first awareness target is not reported according to the first density; or the third information is used to indicate that the edge point cloud information of the first awareness target is reported according to a second density, wherein the second density is greater than the first density.

[0022] In an optional implementation, the first information is further used to indicate one or more of the following: a number of points corresponding to the first point cloud information, a similarity of the first point cloud information to the first awareness target, whether the point corresponding to the first point cloud information is obtained by interpolation, the point obtained by interpolation corresponding to the first point cloud information, or points of the first awareness target that do not participate in determining the first point cloud information.

[0023] In an optional implementation, the method further includes: sending fourth information, the fourth information being used to indicate that the first point cloud information is determined based on the first density.

[0024] As to the technical effects brought by the second aspect or various optional implementations, reference can be made to the introduction of the technical effects of the first aspect or corresponding implementations.

[0025] In a third aspect, a communication apparatus is provided. The communication apparatus can be the first apparatus of any one of the above aspects. The communication apparatus has the functions of the first apparatus. For example, the communication apparatus has the functions of any one of the above aspects, e.g., the communication apparatus includes modules or units or means for performing the functions of any one of the above aspects, which can be implemented by software or by hardware or by a combination of software and hardware. The communication apparatus can be a terminal device, or another device having functions of a terminal device, or a chip system (or a chip or circuitry) or another functional module that can implement the functions of a terminal device, e.g., the chip system or functional module is configured to be arranged in a terminal device. Alternatively, the communication apparatus can be a network device, or another device having functions of a network device, or a chip system (or a chip or circuitry) or another functional module that can implement the functions of a network device, e.g., the chip system or functional module is configured to be arranged in a network device. The network device can include a core network device and / or an access network device. In an optional implementation, the communication apparatus includes a baseband device and a radio frequency device. In another optional implementation, the communication apparatus includes a processing unit (also sometimes referred to as a processing module) and a transceiver unit (also sometimes referred to as a transceiver module). The transceiver unit can implement a transmitting function and a receiving function. When the transceiver unit implements the transmitting function, it can be referred to as a transmitting unit (also sometimes referred to as a transmitting module). When the transceiver unit implements the receiving function, it can be referred to as a receiving unit (also sometimes referred to as a receiving module). The transmitting unit and the receiving unit can be the same functional module, which is referred to as a transceiver unit, and can implement the transmitting function and the receiving function. Alternatively, the transmitting unit and the receiving unit can be different functional modules, and the transceiver unit refers to both of the functional modules.

[0026] In an optional implementation, the processing unit is configured to determine, according to the measurement result of the received first signal and the first density, first point cloud information corresponding to the first sensing target; and the transceiver unit (or the transmitting unit) is configured to transmit first information, where the first information includes the first point cloud information.

[0027] In an optional implementation, the communication apparatus further includes a storage unit (also sometimes referred to as a storage module), and the processing unit is configured to be coupled to the storage unit and execute programs or instructions in the storage unit, so that the communication apparatus can perform the functions of the first apparatus of any one of the above aspects.

[0028] In a fourth aspect, a communication apparatus is provided. The communication apparatus can be the sensing network element of any of the first aspect to the second aspect. The communication apparatus has the functions of the sensing network element. For example, the communication apparatus has the functions of any of the first aspect to the second aspect, e.g., the communication apparatus includes modules or units or means for performing the functions of any of the first aspect to the second aspect, which can be implemented in software, or in hardware, or in a combination of software and hardware. The sensing network element can be, for example, a network device or a server, or other device including the functions of the network device or the server, or a chip system (or, a chip or a circuit) or other functional module, which can implement the functions of the network device or the server, and which can be arranged in the network device or the server. The network device can include, for example, a core network device and / or an access network device. In an optional implementation, the communication apparatus includes a baseband unit and a radio frequency unit. In another optional implementation, the communication apparatus includes a processing unit (also sometimes referred to as a processing module) and a transceiver unit (also sometimes referred to as a transceiver module). The implementation of the transceiver unit can be referred to the related description of the third aspect.

[0029] In an optional implementation, the transceiver unit (or, the sending unit) is configured to send second information, the second information being used to indicate the first density; and the transceiver unit (or, the receiving unit) is configured to receive first information, the first information including first point cloud information, the first point cloud information satisfying the first density, and the first point cloud information being point cloud information corresponding to a first sensing target.

[0030] In an optional implementation, the communication apparatus further includes a storage unit (also sometimes referred to as a storage module), and the processing unit is coupled to the storage unit and executes programs or instructions in the storage unit, so as to enable the communication apparatus to perform the functions of the sensing network element of any of the first aspect to the second aspect.

[0031] In a fifth aspect, a communication apparatus is provided, which includes a memory and one or more processors. The memory is configured to store part or all of the necessary computer programs or instructions for implementing the functions related to the first aspect or the second aspect. The one or more processors can execute the computer programs or instructions, which, when executed, cause the communication apparatus to implement the method in any possible design or implementation of the first aspect or the second aspect.

[0032] In a possible design, the communication apparatus can further include an interface circuit, and the processor can be configured to communicate with other apparatuses or components through the interface circuit.

[0033] In a possible design, the communication apparatus can further include the memory.

[0034] The communication apparatus can be a terminal, or a communication module in the terminal, or a chip responsible for communication function in the terminal, such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip including a modem module. Optionally, the terminal can implement the method in any possible design or implementation manner of the first aspect.

[0035] In a sixth aspect, a communication apparatus is provided, which includes a memory and one or more processors. The memory is configured to store part or all of necessary computer programs or instructions for implementing the functions in the first aspect or the second aspect. The one or more processors can execute the computer programs or instructions, and when the computer programs or instructions are executed, the communication apparatus implements the method in any possible design or implementation manner of the first aspect or the second aspect.

[0036] In a possible design, the communication apparatus can further include an interface circuit, and the processor can be configured to communicate with other apparatuses or components through the interface circuit.

[0037] In a possible design, the communication apparatus can further include the memory.

[0038] The communication apparatus can be a network device or a server, or a communication module in the network device or the server, or a chip responsible for communication function in the network device or the server, such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip including a modem module. Optionally, the network device or the server can implement the method in any possible design or implementation manner of the first aspect, or can implement the method in any possible design or implementation manner of the second aspect.

[0039] In a seventh aspect, a communication system is provided, which includes a network-side apparatus and a sensing network element. The network-side apparatus is configured to perform the method performed by the first apparatus in any one of the first aspect to the second aspect. The sensing network element is configured to perform the method performed by the sensing network element in any one of the first aspect to the second aspect. For example, the network-side apparatus can be implemented by the communication apparatus in the fourth aspect or the sixth aspect; and the sensing network element can be implemented by the communication apparatus in the fourth aspect or the sixth aspect.

[0040] Optionally, the communication system further comprises a terminal-side device, wherein the terminal-side device is configured to perform the method performed by the first device in any one of the first aspect to the second aspect. For example, the terminal-side device can be implemented by the communication device in the third aspect or the fifth aspect.

[0041] Optionally, the network-side device can be further configured to send the first signal, or the terminal-side device can be further configured to send the first signal.

[0042] In an eighth aspect, a computer-readable storage medium is provided, which is configured to store a computer program or instructions, when the computer program or instructions are executed, causing the method performed by the first device or the sensing network element in the above aspects to be implemented.

[0043] In a ninth aspect, a computer program product containing instructions is provided, when the computer program or instructions are executed on a computer, causing the method in the above aspects to be implemented.

[0044] In a tenth aspect, a chip system is provided, which comprises a processor and an interface, the processor is configured to call and execute instructions from the interface, so that the chip system implements the method in the above aspects. BRIEF DESCRIPTION OF DRAWINGS

[0045] FIG. 1A is a schematic diagram of an access network device structure under an ORAN architecture;

[0046] FIG. 1B is a schematic diagram of a structure of a RAN chip;

[0047] FIG. 2 is a schematic diagram of multiple base stations measuring a same sensing target;

[0048] FIGS. 3 and 4 are schematic diagrams of two network architectures to which embodiments of the present application are applied;

[0049] FIGS. 5A and 5B are schematic diagrams of single-station sensing mode and double-station sensing mode respectively;

[0050] FIG. 6 is a flowchart of a sensing method provided by an embodiment of the present application;

[0051] FIG. 7 is a schematic diagram of the first device determining coordinates of a sensing target in an embodiment of the present application;

[0052] FIGS. 8 to 11 are flowcharts of several sensing methods provided by embodiments of the present application;

[0053] FIG. 12 is a schematic diagram of a device provided by an embodiment of the present application;

[0054] FIG. 13 is a schematic diagram of another device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0056] In the embodiments of the present application, the number of nouns, unless otherwise specified, represents "a singular noun or a plural noun", that is, "one or more". "At least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. For example, A / B represents A or B. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c means a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0057] The ordinal numbers "first", "second", and the like mentioned in the embodiments of the present application are used to distinguish a plurality of objects, and are not used to limit the size, content, order, time sequence, priority, or importance of the plurality of objects. In addition, the numbering of steps in each embodiment introduced in the present application is only used to distinguish different steps, and is not used to limit the order of the steps.

[0058] In the following, some terms or concepts in the embodiments of the present application are explained and described to facilitate understanding by those skilled in the art.

[0059] Point cloud refers to a point set of surface characteristics of a target, which can represent a three-dimensional shape or object. In the embodiments of the present application, the point cloud can refer to a point cloud containing coordinates obtained after perception by a perception device (such as a network device or a UE, etc.). For example, in the embodiments of the present application, "point cloud" can refer to "point", for example, "point" can also be called "point cloud", and the two features can be replaced with each other. One or more point clouds can belong to a point cloud set, and the information of the point cloud set can include the coordinates (such as three-dimensional coordinates) of the one or more point clouds. For example, a point cloud set corresponding to a perception target is considered as a point cloud set.

[0060] Alternatively, in embodiments of the present application, a "point cloud" can refer to a set of "points", and one point cloud can include one or more points. Point cloud information corresponds to a point cloud, for example, the point cloud information can include the coordinates (for example, three-dimensional coordinates) of one or more points in the corresponding point cloud. For example, a point cloud corresponding to one perception target is considered as a point cloud. For example, perception target 1 corresponds to point cloud 1, point cloud 1 can include one or more points on perception target 1, point cloud 1 corresponds to point cloud information 1, and point cloud information 1 includes the coordinates of the one or more points. Embodiments of the present application are introduced as an example.

[0061] In the embodiments of the present application, the terminal device is a device with wireless transceiving function, which can be a fixed device, a mobile device, a handheld device (for example, a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (for example, a communication module, a modem, or a chip system, etc.) built in the above devices. The terminal device is used to connect people, things, machines, etc., and can be widely used in various scenarios, for example, including but not limited to the following scenarios: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle to everything (V2X) communication, machine-to-machine / machine-type communications (M2M / MTC), internet of things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, unmanned aerial vehicle, robot, indoor commercial scenarios (such as mobile phone screen projection, file sharing, mobile phone to VR glasses video transmission) and other scenarios. When the terminal device is applied to V2X, it can also be referred to as a V2X device, for example, a smart car, a digital car, an unmanned car, a self-driving car, a pure EV, a hybrid electric vehicle (HEV), a range extended EV (REEV), a plug-in HEV (PHEV), a new energy vehicle, a road site unit (RSU), etc. The terminal device can also be a device in D2D communication, for example, a water meter, a gas meter, etc.

[0062] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an internet of things (IoT) system. The IoT is an important part of future information technology development. Its main technical feature is to connect objects to a network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-object interconnection.

[0063] As introduced above, various terminal devices can be considered as vehicle-mounted terminal devices if they are located on a vehicle (e.g., placed in or installed in a vehicle), which are also called on-board units (OBU). The terminal device of the present application can also be an on-board module, on-board module group, on-board component, on-board chip or on-board unit built in a vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in on-board module, on-board module group, on-board component, on-board chip or on-board unit.

[0064] The terminal device can also be referred to as a UE, terminal, access station, UE station, remote station, wireless communication device, or user equipment, etc.

[0065] In the embodiments of the present application, the communication device for implementing the function of the terminal device can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device to implement the function, such as a chip system, which can be installed in the terminal device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the terminal device is taken as an example to describe the technical solutions provided in the embodiments of the present application.

[0066] The network device in the embodiments of the present application, for example, includes an access network device (or an access network network element) and / or a core network device (or a core network network element). The access network device is a device with wireless transceiving function, used for communicating with the terminal device. The access network device includes but is not limited to a base station (a base transceiver station (BTS), a Node B, an evolved Node B (eNodeB) / eNB, or a next generation Node B (gNodeB) / gNB), a transmission reception point (TRP), a base station evolved in the future of the 3rd generation partnership project (3GPP), an access node in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, and the like. The base station can be a macro base station, a micro base station, a pico base station, a small station, a relay station, and the like. A plurality of base stations can support a network of the same access technology or a network of different access technologies. A base station can include one or more co-sited or non-co-sited transmission reception points. The access network device can also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device can also be a server and the like. For example, the network device in the V2X technology can be a road side unit (RSU). The access network device is described below by taking a base station as an example. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. The terminal device can communicate with a plurality of base stations in different access technologies. The core network device is used to implement mobile management, data processing, session management, policy and charging, and the like. The names of devices implementing core network functions in systems of different access technologies can be different, and the embodiments of the present application do not limit this.Taking a 5th generation (5G) system as an example, the core network device includes, for example, an access and mobility management function (AMF), a session management function (SMF), a policy control function (PCF), a user plane function (UPF), and the like.

[0067] In the CU-DU architecture, or in an open RAN (ORAN) system, the access network device can include one or more of a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), and the like. The CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). For a structure of the access network device, refer to FIG. 1A. The core network device and the access network device can communicate through a backhaul link; the CU and the DU in the access network device can communicate through a middlehaul link, and the DU and the RU can communicate through a front-haul link.

[0068] Alternatively, another structure of the access network device can refer to FIG. 1B, which takes the example of the access network device being implemented by a chip, for example, referred to as a RAN chip. The RAN chip can include a CU, a DU, and a RU. The CU can perform L2 functions, L3 functions, and the like. The DU can perform L1 functions, part of L2 functions, and the like. The RU can perform calculation of L1 and radio frequency (RF) digital part functions, and the like. The CU communicates with the core network device through a backhaul interface, which carries traffic between the CU and the core network device. The CU can include a central processing unit (CPU) of an X86 architecture or an ARM architecture, and an accelerator including a field programmable gate array (FPGA), a graphics processing unit (GPU), or other accelerators, and the like. The CPU and the FPGA, GPU, or other accelerators can communicate through a peripheral component interconnect express (PCIe) interface.

[0069] The CU communicates with the DU through a midhaul interface, which carries traffic between the CU and the DU. The DU can include a CPU of an X86 architecture or an ARM architecture, and an accelerator including an FPGA, a GPU, or other accelerators, and the like. The CPU and the FPGA, GPU, or other accelerators can communicate through a PCIe interface.

[0070] The DU communicates with the RU through a fronthaul interface, which carries traffic between the DU and the RU. If the access network device adopts an integrated DU, the integrated DU can include the functions of the DU and the RU described above, and the RAN can no longer separately include the RU. The RU can include a RAN fronthaul processing unit (RAN FH processing unit), a digital processing unit, and a radio frequency processing unit (RF processing unit). The RAN FH processing unit is implemented by, for example, an FPGA or an application specific integrated circuit (ASIC). The digital processing unit is implemented by, for example, an FPGA or an ASIC.

[0071] The RU can be connected with an antenna to communicate with the UE through the antenna.

[0072] The CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an open CU (O-CU), the DU can also be referred to as an open DU (O-DU), the CU-CP can also be referred to as an open CU-CP (O-CU-CP), the CU-UP can also be referred to as an open CU-UP (O-CU-UP), and the RU can also be referred to as an open RU (O-RU). For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in the embodiments of the present application. Any one of the CU (or CU-CP, CU-UP), DU and RU in the embodiments of the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0073] The CU and the DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above the PDCP layer (such as the radio resource control (RRC) layer and / or the service data adaption protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the radio link control (RLC) layer, the media access control (MAC) layer, or the physical (PHY) layer). For another example, the CU is configured to implement the functions of the PDCP layer and the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the RLC layer, the MAC layer, or the PHY layer).

[0074] The configuration of the above CU and DU is merely an example, and the CU and DU can be configured to have functions as needed. For example, the CU or the DU can be configured to have more protocol layer functions, or the CU or the DU can be configured to have partial processing functions of the protocol layer. For example, partial functions of the RLC layer and functions of protocol layers above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of protocol layers below the RLC layer are arranged in the DU. For another example, the functions of the CU or the DU can be divided according to a service type or other system requirements, for example, according to a delay requirement. Functions that require a processing time to meet a relatively low delay requirement are arranged in the DU, and functions that do not require the processing time to meet the delay requirement are arranged in the CU.

[0075] The DU and the RU can cooperate to jointly implement the functions of the PHY layer. One DU can be connected to one or more RUs. The functions of the DU and the RU can be configured in various ways according to design. For example, the DU is configured to implement baseband functions, and the RU is configured to implement intermediate radio frequency functions. For another example, the DU is configured to implement high-layer functions in the PHY layer, and the RU is configured to implement low-layer functions in the PHY layer or to implement the low-layer functions and radio frequency functions. The high-layer functions in the PHY layer can include a part of the functions of the PHY layer that are closer to the MAC layer, and the low-layer functions in the PHY layer can include another part of the functions of the PHY layer that are closer to the intermediate radio frequency side.

[0076] In the embodiments of the present application, the communication device for implementing the function of the network device can be referred to as a network device, which can be a network element or a network device, or a device capable of supporting the network device or the network element to implement the function, such as a chip system, which can be installed in the network device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the network device is taken as an example (for example, the device for implementing the function of the access network device is the access network device, and the device for implementing the function of the core network device is the core network device), and the technical solutions provided in the embodiments of the present application are described.

[0077] A sensing signal is a signal used for sensing (or detecting) a target (or target object). The sensing signal is also referred to as a detection signal, a chirp signal, a radar signal, a radar sensing signal, a radar detection signal, or an environment sensing signal, etc. The sensing signal can be a pulse signal, or a signal in a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal modulated with a specific sequence on subcarriers, where the specific sequence can be any one of a Zadoff-Chu sequence (ZC sequence), a pseudo-random sequence, or a predefined sequence. The pseudo-random sequence includes any one of a maximum length linear feedback shift register sequence (m-sequence) or a Gold sequence. The predefined sequence is, for example, a random data symbol, such as a random data symbol modulated by quadrature phase shift keying (QPSK) or 16 quadrature amplitude modulation (QAM).

[0078] A communication signal is a signal used for communication transmitted between communication devices. For example, the communication signal can include a signal transmitted between a network device and a terminal device. The communication signal is, for example, carried on a physical downlink shared channel (PDSCH) or a physical uplink shared channel (PUSCH), etc.

[0079] A return signal is a signal generated by reflection of a sensing signal by a target. The return signal and the sensing signal can reflect parameters of the target, for example, a time delay of the return signal relative to the sensing signal can reflect a distance of the target relative to a transmitter, and a Doppler shift of the return signal relative to the sensing signal can reflect a speed of the target.

[0080] A communication-sensing fusion signal is also referred to as a communication-sensing fusion signal, a communication-sensing signal, or a communication-sensing integrated signal, etc. The communication-sensing fusion signal is a signal used for both communication and sensing. The communication-sensing fusion signal used for communication can be understood as a signal carrying communication data or a communication reference signal sequence to be transmitted between communication devices. The communication-sensing fusion signal used for sensing can be understood as the communication-sensing fusion signal being used for sensing (or detecting) a target.

[0081] For a long time, wireless sensing is a technology developed independently. Sensing services are provided by various specialized sensing devices, such as ordinary radar, laser radar, computer tomography, magnetic resonance imaging and other devices. In 5G and earlier communication systems, positioning is a sensing service that can be provided by mobile communication systems. In the 6th generation (6G) mobile communication system, in addition to positioning, general sensing will be integrated into the communication system as a new function, opening up new services such as high-precision positioning, environment reconstruction, gesture and motion recognition, and other services.

[0082] Among them, the sensing network element can reconstruct the environment of the target area through laser, radar, or base station and other means, for example, the sensing network element can reconstruct the real physical environment through the measurement results reported by the laser, radar, or base station and other devices. For example, the sensing network element can reconstruct the environment information based on the measurement results, using methods such as scattering polygons, to depict various scatterers (also known as sensing targets, targets, or target objects, etc.) such as walls and furniture in the environment.

[0083] For sensing services, such as environmental imaging or reconstruction applications, the position or shape of a target in the environment can be sensed by utilizing the reflection, scattering, or diffraction of signals transmitted by a UE or base station on the target during spatial propagation. Specifically, the base station or UE can measure the signals reflected, scattered, or diffracted by the target and report the measurement results to the sensing network element, which then performs the sensing of the target. The measurement results reported by the base station or UE may include point cloud information corresponding to the target, which may include the coordinates of the target determined by the measurement. The sensing network element can perform sensing based on point cloud information reported by a single base station or UE, or it can perform sensing based on point cloud information reported by multiple base stations or UEs. Multiple base stations or UEs may report point cloud information for the same target; combining the point cloud information reported by these multiple base stations or UEs improves the accuracy of the sensing. For example, referring to Figure 2, two base stations (base station 1 and base station 2 in Figure 2) both measured the same sensing target. These two base stations can report the point cloud information corresponding to the sensing target to the sensing network element. For example, if the point cloud information corresponding to the sensing target reported by these two base stations includes the coordinates of the points within the circles in Figure 2, it may indicate that these points are key points used to reconstruct the sensing target. Figure 2 uses a bistatic sensing mode with these two base stations as an example. This sensing mode is also called the A-transmit B-receive sensing mode, or the dual-end sensing mode, or the bistatic sensing mode, etc. For example, the UE transmits sensing signal A, and the sensing signal B received by the base station is the signal of sensing signal A reflected, scattered, or diffracted by the sensing target. Base station 1 and UE1 are one group of devices using bistatic sensing, and base station 2 and UE2 are another group of devices using bistatic sensing.

[0084] For a single sensing target, the point cloud information determined by the base station or UE may include multiple coordinates of the sensing target, resulting in a large amount of information in the point cloud and thus a large transmission overhead.

[0085] Therefore, in this embodiment of the application, the first device can determine the first point cloud information based on the first density, thereby controlling the amount of information in the first point cloud information through the first density. For example, the first density can be set reasonably so that the first point cloud information can be used to sense the target object, while also minimizing the amount of information in the first point cloud information, thereby reducing the transmission overhead of the first point cloud information while ensuring sensing performance. Optionally, the first device may be, for example, a terminal device or a network device. Optionally, the first device may also be called a sensing device.

[0086] Referring to FIG. 3, FIG. 3 is based on a 5G core network (5GC). The network architecture shown in FIG. 3 can also be an application scenario of the embodiments of the present application.

[0087] In the architecture shown in FIG. 3, a sensing function (SF) network element is added, which can also be referred to as a sensing network element. The SF can be a device or component that provides sensing functions for the network, which can also be referred to as a sensing management function (SMF), or can also have other names. The SF can be deployed on the core network side or the RAN side, and FIG. 3 takes the deployment on the core network side as an example. In the network architecture shown in FIG. 3, the SF can reuse the interfaces between the location management function (LMF) and the AMF, the network exposure function (NEF), the unified data management (UDM), the network data analytics function (NWDAF), the PCF, and other 5GC network elements for sensing interaction. The sensing signaling between the SF and the radio access network (RAN) or the UE can be transmitted through the AMF. The sensing measurement data obtained by the RAN or the UE can be transmitted to the SF through the control plane, for example, by reusing the long term evolution (LTE) positioning protocol (LPP) or the new radio (NR) positioning protocol annex (NRPPa) protocol, or can also be transmitted through the user plane, forwarded to the SF through the UPF, or directly transmitted to the SF.

[0088] The SF added in the network architecture can implement basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Among them, interfaces are set between the SF and the AMF, the NEF, the UDM, the NWDAF, the PCF, the LMF, and the UPF, and other 5GC network elements, and interact with each other, which are defined as follows.

[0089] NS1: The interface added between the SF and the AMF, which can transmit sensing control signaling. In addition, for the scenario of transmitting sensing measurement data on the control plane, the interface can also transmit sensing measurement data.

[0090] NS2: The newly added interface between SF and NEF, which can deliver the signaling message of the interaction between the sensing network element through NEF and the application function (AF) on the service side, and open the sensing result to the AF.

[0091] NS3: The newly added interface between SF and UDM, through which authentication or authorization can be achieved, and the sensing subscription information, service AMF information or other information of the UE can be obtained.

[0092] NS4: The newly added interface between SF and NWDAF, through which the SF can complete the artificial intelligence (AI) processing related to the sensing service together with the NWDAF.

[0093] NS5: The newly added interface between SF and PCF, through which the SF can deliver the sensing requirements, quality of service (QoS) requirements or sensing results of the sensing service to the PCF, and the PCF can generate the policy control and charging (PCC) policy related to the sensing service.

[0094] NS6: The newly added interface between SF and LMF, through which the SF can obtain the location related information, such as the sensing area, the RAN information of the sensing target, the location information of the sensed UE, etc.

[0095] NS7: The newly added interface between SF and UPF, through which the sensing measurement data can be transmitted directly from the (R)AN to the SF by the UPF, or indirectly forwarded to the SF by the UPF. In the scenario where the (R)AN performs sensing, the function of the UPF can be improved to support the (R)AN granularity data transmission.

[0096] In addition to the above-mentioned newly added interfaces, the existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the delivery of one or more of the information related to the sensing service, such as authentication information, sensing service type, sensing service quality requirement, sensing measurement data, or sensing result.

[0097] Figure 3 is an example of SF being a standalone device; or SF can also be combined with LMF, i.e., the network element for processing perception services and the network element for processing positioning services can be the same network element; or SF can also be combined with other core network elements, such as AMF, etc. Among them, LMF is a core network element in 5GC that provides control plane positioning, can complete the calculation and feedback of location information in the 5G network, and provides functions such as positioning process management, UE capability acquisition, assistance data provision, and UE location estimation. Optionally, if SF is combined with LMF, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic functions of perception. Among them, the GMLC can be the first network element in the operator network to process perception requests, perform privacy checks or authorization functions, route perception requests to the AMF, or perform LMF selection, etc.

[0098] For example, if SF is combined with LMF, an interface can be added between LMF and GMLC to deliver perception service related information, such as the addition of NL9 interface. In addition, the interfaces related to LMF and GMLC (such as one or more of the NL1 interface between AMF and LMF, the NL2 interface between AMF and GMLC, the NL5 interface between NEF and GMLC, or the NL6 interface between UDM and GMLC) can also support the delivery of perception service related information, which is described in detail as follows.

[0099] N33: Interface between AF and NEF, through which perception service type information, service requirements, and perception results can be delivered.

[0100] NL5: Interface between NEF and GMLC, through which perception service type information, service requirements, and perception results can be delivered.

[0101] NL6: Interface between GMLC and UDM, through which privacy check data can be delivered.

[0102] NL2: Interface between NEF and AMF, through which perception service type information, service requirements, and perception results can be delivered.

[0103] NL1: Interface between AMF and LMF, through which perception service type information, service requirements, and perception results can be delivered.

[0104] NL9: Newly added interface between GMLC and LMF, through which perception service type information, service requirements, and perception results can be delivered.

[0105] Referring back to FIG. 4, FIG. 4 is another potential possible sensing network architecture based on 5GC. The network architecture shown in FIG. 4 can also be another application scenario of the embodiments of the present application.

[0106] In the network architecture shown in FIG. 4, the SF is relatively independent of the existing core network elements, and the SF does not need to interact with the core network elements or performs less interaction. For scenarios where there is only a sensing demand in a specific area or there is only a sensing demand, this network architecture can provide sensing services without the control of 5GC or with the participation of only part of the network elements, and can also achieve that the sensing measurement data or sensing results do not go out of the park through the local deployment of the SF, thereby meeting the needs of enterprises for the security and privacy of sensing measurement data or sensing results, and reducing the sensing latency. This network architecture is relatively simple, flexible, efficient, has fewer transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing demands, and can consider implementation schemes of authorization, mobility management, and charging functions as needed.

[0107] In this network architecture, the SF can directly establish a connection with the RAN node, and the sensing signaling of the control plane and the sensing measurement data of the user plane can be transmitted via a newly defined interface NS1. When the UE participates in sensing, the control plane signaling can be forwarded to the SF through the AMF, and the sensing measurement data can be transmitted via NS1. In addition, there can be an interface between the SF and the 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through the core network functions. The interface between the SF and the 5GC network elements is described as follows.

[0108] NS1: a newly added interface between the SF and the (R)AN, which can transmit sensing control signaling or sensing measurement data. In an implementation manner, the SF can also be deployed on the RAN side, for example, the SF can be co-located with the access network device (such as a base station), or the SF can be a separate device within the access network.

[0109] NS2: a possible newly added interface between the SF and the AMF, which can receive the sensing service requirements from the UE, or transmit the signaling between the SF and other network elements in the core network, such as the interaction messages between the SF and the UDM.

[0110] NS3: a possible newly added interface between the SF and the NEF, which can transmit the signaling of the interaction between the SF and the service-side AF through the NEF, and can also expose the sensing results to the AF, wherein the interaction between the SF and the AF can also not pass through the NEF. In actual deployment, NS2 and NS3 can be selected from one of them, that is, the AF can send a sensing service request to the SF indirectly through NS2 (NEF) or directly to the SF (without NEF); or the AF can send a sensing service request to the SF through N33 (NEF) and NS2 (AMF).

[0111] NS4: A possible new interface between the SF and the NWDAF, through which the SF and the NWDAF can jointly perform intelligent analysis and prediction to generate perception results.

[0112] The technical solutions provided by the embodiments of the present application can be applied in a 4th generation (4G) mobile communication system, such as an LTE system, or can be applied in a 5G system, such as an NR system, or can also be applied in a next-generation mobile communication system or other similar communication systems, such as a 6G system, or can be applied in an existing satellite mobile communication technology system, and the specific application is not limited. For example, both FIG. 3 and FIG. 4 are based on 5GC, in addition to this, the SF can also be deployed in other networks, such as a 6G network, or other future communication networks, etc.

[0113] For perception, according to the difference between the sender and the receiver of the perception signal, the perception mode can be divided into two modes: single-station perception and double-station perception. The single-station perception mode is also called self-transmission and self-reception mode, or single-end perception mode, or single-base perception mode, etc. It means that the device that transmits the perception signal and the device that receives the echo signal reflected by the target are the same device, as shown in FIG. 5A, the device that transmits the perception signal and the device that receives the echo signal are both device 1. The double-station perception mode is also called A-transmission and B-reception mode, or self-transmission and other-reception mode, which means that the device that transmits the perception signal and the device that receives the echo signal reflected by the target are different devices, as shown in FIG. 5B, the device that transmits the perception signal is device 2, and the device that receives the echo signal is device 3. FIG. 5A and FIG. 5B both take the perception target as a vehicle as an example. For example, in FIG. 5A, device 1 is a base station or a UE, in the single-station perception mode, device 1 transmits the perception signal, and device 1 receives the echo signal generated by the perception signal reflected, scattered or diffracted by the perception target (such as the vehicle in FIG. 5A) in the environment to perform environment perception. For another example, in FIG. 5B, device 2 is a base station or a UE, and device 3 is a base station or a UE, in the double-station perception mode, device 1 transmits the perception signal, and device 2 receives the echo signal generated by the perception signal reflected, scattered or diffracted by the scatterer (such as the vehicle in FIG. 5B) in the environment to perform environment perception.

[0114] The embodiments of the present application can be applied to the scenarios shown in FIG. 3, FIG. 4, FIG. 5A or FIG. 5B, or can also be used in other scenarios, such as any scenario involving perception services.

[0115] The method provided by the embodiments of the present application is described below with reference to the drawings. In the embodiments of the present application, a signal used to implement a sensing function or a sensing service is referred to as a sensing signal. The sensing signal is transmitted through reflection, scattering, diffraction, or the like, and a sensing device (for example, a first device) can determine relevant characteristics of a sensing target according to the received sensing signal, for example, estimate time delay, Doppler, or angle spectrum information to determine distance, angle, or speed information of the sensing target. In addition, the sensing device can also send measurement results, for example, point cloud information, distance, angle, or speed information of the sensing target, to a sensing network element. In the drawings corresponding to the embodiments of the present application, steps represented by dashed lines are optional steps. In the embodiments of the present application, the first device and the second device can be the same device or different devices. The embodiments of the present application can be applied to the network architecture shown in FIG. 3, FIG. 4, FIG. 5A, or FIG. 5B. For example, the first device described in the embodiments of the present application can be a UE shown in FIG. 3 or FIG. 4, and the second device described in the embodiments of the present application can be a (R)AN shown in FIG. 3 or FIG. 4; or the first device described in the embodiments of the present application can be a (R)AN shown in FIG. 3 or FIG. 4, and the second device described in the embodiments of the present application can be a UE shown in FIG. 3 or FIG. 4; or the first device described in the embodiments of the present application can be a (R)AN shown in FIG. 3 or FIG. 4, and the second device described in the embodiments of the present application can also be the (R)AN; or the first device described in the embodiments of the present application can be a UE shown in FIG. 3 or FIG. 4, and the second device described in the embodiments of the present application can also be the UE. For another example, the first device described in the embodiments of the present application can be device 1 shown in FIG. 5A, and the second device described in the embodiments of the present application can also be device 1 shown in FIG. 5A. For another example, the second device described in the embodiments of the present application can be device 2 shown in FIG. 5B, and the first device described in the embodiments of the present application can be device 3 shown in FIG. 5B.

[0116] The embodiments of the present application provide a sensing method. Please refer to FIG. 6, which is a flowchart of the method.

[0117] S601, the first device determines first point cloud information according to the measurement result of the received first signal and the first density. The first point cloud information is the point cloud information corresponding to the first sensing target.

[0118] The measurement result of the first signal is a result obtained by the first device measuring the first signal. Alternatively, S601 can also be understood as that the first device determines the first point cloud information based on the measurement of the first signal and the first density. That is, it is not emphasized that the first device measuring the first signal must obtain the "measurement result", but the first device can determine the first point cloud information based on the measurement of the first signal and the first density. This paper takes the first device determining the first point cloud information according to the measurement result of the first signal and the first density as an example for introduction.

[0119] For example, the first device can determine one or more point cloud information according to the measurement result of the first perception signal and the first density, for example, each of which corresponds to a perception target. The first point cloud information is, for example, the point cloud information corresponding to the first perception target, and this paper takes the first point cloud information as an example for introduction.

[0120] The first device can measure the received first signal to obtain a measurement result, and determine the first point cloud information according to the measurement result and the first density. The first point cloud information corresponds to a first point cloud, which can include K1 points on the first perception target, and the first point cloud information can include coordinates of the K1 points, K1 being a positive integer. The density of the first point cloud (or also can be simply understood as the density of the first point cloud information, this paper takes this as an example) is the first density.

[0121] Optionally, the first device can first determine the second point cloud information according to the measurement result, and then determine the first point cloud information according to the second point cloud information and the first density. The second point cloud information corresponds to a second point cloud, which can include K2 points on the first perception target, and the second point cloud information can include coordinates of the K2 points, K2 being a positive integer. K1 can be greater than K2, or less than K2, or equal to K2. The density of the second point cloud (or also can be simply understood as the density of the second point cloud information, this paper takes this as an example) can be greater than, equal to or less than the first density. If the density of the second point cloud information is greater than or less than the first density, the first device can process the second point cloud information accordingly to obtain the first point cloud information satisfying the first density; or if the density of the second point cloud information is equal to the first density, the first device can not need to process the second point cloud information, and the second point cloud information can be the first point cloud information at this time; or even if the density of the second point cloud information is equal to the first density, the first device can process the second point cloud information to obtain the first point cloud information satisfying the first density.

[0122] Alternatively, the first device can also not obtain the second point cloud information, but directly determine the first point cloud information according to the measurement result and the first density. The embodiment of the application takes the first device obtaining the second point cloud information and then obtaining the first point cloud information as an example for introduction.

[0123] The first device determines the second point cloud information, for example, the first device determines the coordinates of each point included in the second point cloud. An optional way of determining the coordinates of one of the points included in the second point cloud by the first device is introduced as follows, which is, for example, (x0, y0).

[0124] Reference can be made to FIG. 7. It is assumed that the first device is an access network device, which can communicate with UE1 and UE2. For example, the access network device can perform sensing in a bistatic sensing mode with UE1, UE1 sends a signal, the signal can be scattered, reflected or diffracted by a sensing target to the access network device (FIG. 7 takes reflection as an example), and the access network device receives and measures the signal. In addition, the access network device can also perform sensing in a bistatic sensing mode with UE2, UE2 sends a signal, the signal can be scattered, reflected or diffracted by a sensing target to the access network device (FIG. 7 takes reflection as an example), and the access network device receives and measures the signal. For example, the coordinates of the first device are (x, y), the coordinates of UE1 are (x1, y1), and the coordinates of UE2 are (x2, y2). In addition, in addition to the path of reflection, scattering or diffraction via the sensing target, there is also a direct path that can reach the access network device for the signal sent by UE1; in addition to the path of reflection, scattering or diffraction via the sensing target, there is also a direct path that can reach the access network device for the signal sent by UE2, and the two direct paths are shown by the dashed arrows in FIG. 7.

[0125] wherein, denotes the distance of the direct path between UE1 and the access network device, denotes the distance of the direct path between UE2 and the access network device. denotes the distance of the reflection path of UE1 after reflection by the sensing target to the access network device, denotes the distance of the reflection path of UE2 after reflection by the sensing target to the access network device. Wherein, denotes the distance of UE1 to the sensing target, denotes the distance of UE1 to the sensing target, d BS,S denotes the distance of the sensing target to the access network device (for example, the distance of (x0, y0) on the sensing target to the access network device). α0-α1 denotes the angle between the reflection path corresponding to UE1 and the direct path corresponding to UE1, and α0-α2 denotes the angle between the reflection path corresponding to UE2 and the direct path corresponding to UE1.

[0126] Optionally, the access network device can obtain and The access network device can obtain And The access network device can determine the distance difference between the reflection path and the direct path corresponding to UE1 according to the distance of the direct path and the distance of the reflection path corresponding to UE1, which is denoted as The access network device can determine the distance difference between the reflection path and the direct path corresponding to UE2 according to the distance of the direct path and the distance of the reflection path corresponding to UE2, which is denoted as In addition, the access network device can obtain α0-α1 through the measurement of the signal from UE1, for example, through angle estimation technology; the access network device can obtain α0-α2 through the measurement of the signal from UE2, for example, through angle estimation technology. The access network device can determine (x0, y0) according to the obtained parameters.

[0127] For example, according to the cosine theorem, there are the following formula 1 and / or formula 2:

[0128] The access network device can determine d According to one or more of Δd1 or α0-α1 BS,S , for example, d BS,S satisfies the following relationship:

[0129] Alternatively, the access network device can determine d According to one or more of Δd2 or α0-α2 BS,S , for example, d BS,S satisfies the following relationship:

[0130] Further, the access network device can determine (x0, y0), for example, (x0, y0) satisfies the following relationship:

[0131] The first sensing target can correspond to one or more points, for example, the second point cloud includes K2 points, and the first device can determine the coordinates of the K2 points included in the second point cloud according to similar methods as described above for determining the coordinates of one point.

[0132] After determining the second point cloud information, the access network device can determine the first point cloud information according to the second point cloud information and the first density. According to the size relationship between the density of the second point cloud information and the first density, the access network device can adopt different processing methods, which are described below as examples.

[0133] 1. The density of the second point cloud information is greater than the first density.

[0134] It can be understood that the density of the second point cloud is greater than the required first density, and thus the second point cloud is denser than the first point cloud. In this case, the access network device can reduce the amount of information of the second point cloud information, for example, reduce the coordinates included in the second point cloud information (or it can be understood as reducing the points included in the second point cloud), to obtain the first point cloud information that meets the first density.

[0135] As an optional implementation for the first device to process the second point cloud information, the first device can fuse the second point cloud information to obtain the first point cloud information that meets the first density. Optionally, a fusion manner is, for example, clustering, and the coordinates of the points included in the second point cloud information are processed by a clustering algorithm to obtain clustered point cloud information, which can be the first point cloud information. The clustering algorithm includes, for example, a K-means algorithm, a density-based spatial clustering of applications with noise (DBSCAN), a graph clustering algorithm, or a hierarchical clustering algorithm, or other clustering algorithms, without limitation. Through clustering, one coordinate can be obtained from multiple coordinates included in the second point cloud information, which is equivalent to replacing the multiple coordinates with the one coordinate, thereby reducing the coordinates included in the second point cloud information and reducing the density of the second point cloud information. Through the clustering manner, the density of the point cloud information is reduced, and the accuracy of the point cloud information can be improved. For example, before clustering, the number of points included in the second point cloud is large, and the spatial distribution of these points lacks regularity, resulting in low accuracy of the second point cloud information. After clustering, the number of points included in the first point cloud is reduced, and the points included in the first point cloud have a certain distribution regularity or the correspondence (or similarity) between the points included in the first point cloud and the first perception target is better, so the accuracy of the first point cloud information is high, and perception based on the first point cloud information is also conducive to improving the perception accuracy.

[0136] Alternatively, in addition to the clustering manner, the first device can process the second point cloud information in other manners, without limitation, as long as the first device can obtain the first point cloud information that meets the first density.

[0137] 2. The density of the second point cloud information is less than the first density.

[0138] It can be understood that the density of the second point cloud is less than the required first density, and thus the second point cloud is sparser than the first point cloud. If the second point cloud is too sparse, the perception network element can not be able to perceive according to the second point cloud, for example, the perception network element can not be able to reconstruct the first perception target according to the second point cloud. In this case, the access network device can increase the amount of information of the second point cloud information, for example, increase the coordinates included in the second point cloud information (or be understood as increasing the points included in the second point cloud), to obtain the first point cloud information satisfying the first density.

[0139] As an optional implementation for the first device to process the second point cloud information, the first device can interpolate the second point cloud information to obtain the first point cloud information satisfying the first density. Through interpolation, new coordinates can be obtained according to one or more coordinates included in the second point cloud information (for example, interpolation can be performed according to two or more coordinates included in the second point cloud information to obtain new coordinates), which is equivalent to adding coordinates in the second point cloud information, thereby increasing the coordinates included in the second point cloud information, so that the density of the second point cloud information becomes larger. Through the interpolation processing mode, the density of the point cloud information is increased, and the accuracy of the point cloud information can also be improved.

[0140] Alternatively, in addition to the interpolation mode, the first device can process the second point cloud information in other ways, which is not limited as long as the first device can obtain the first point cloud information satisfying the first density.

[0141] 3. The density of the second point cloud information is equal to the first density.

[0142] It can be understood that the density of the second point cloud meets the requirements. As an optional implementation, the first device can not process the second point cloud information, and the second point cloud information is the first point cloud information at this time.

[0143] Optionally, regardless of whether the density of the second point cloud information is greater than, equal to, or less than the first density, before processing the second point cloud information according to the clustering algorithm, the interpolation method, or other manners, the first device can also remove M points from the points corresponding to the second point cloud information (for example, the points included in the second point cloud), or the first device can remove M coordinates from the second point cloud information, and the M coordinates can be the coordinates of the M points. M is an integer greater than or equal to 0. After removing the M points or the M coordinates, the first device determines the first point cloud information satisfying the first density according to the remaining coordinates (or the first device determines the first point cloud information according to the coordinates of the remaining points except the M points) included in the second point cloud information except the M coordinates. For example, after removing the M points or the M coordinates, the first device can cluster, interpolate, or process other manners on the remaining coordinates included in the second point cloud information except the M coordinates to obtain the first point cloud information satisfying the first density. For example, after removing the M points or the M coordinates, the first device can obtain third point cloud information. If the density of the third point cloud information is greater than the first density, the first device can cluster or process other manners on the third point cloud information to obtain the first point cloud information; or if the density of the third point cloud information is less than the first density, the first device can interpolate or process other manners on the third point cloud information to obtain the first point cloud information; or if the density of the third point cloud information is equal to the first density, the first device can not process the third point cloud information, and the third point cloud information can be the first point cloud information.

[0144] Optionally, the accuracy of the M points or the M coordinates is lower than the first threshold. The accuracy of a point or a coordinate, for example, is the accuracy of the point or the coordinate in describing the corresponding perception target. For example, a coordinate represents a point on a first perception target, but the difference between the coordinate and the actual coordinate of the point is large, indicating that the accuracy of the coordinate is low. The first device can determine the accuracy of each coordinate of part or all of the coordinates included in the second point cloud information, so that the M coordinates with insufficient accuracy can be removed from the second point cloud information to improve the accuracy of the determined first point cloud information.

[0145] Optionally, the first threshold is determined by the first device itself, or is pre-configured in the first device, or is predefined by a protocol, or is configured by another device, for example, a perception network element, or an access network device (for example, the first device is a UE), etc. If the first threshold is configured by another device, optionally, the first device can receive information from the other device, for example, referred to as fifth information, and the fifth information can indicate the first threshold.

[0146] In S601, the first device can measure a first signal, which is a signal received by the first device. Therefore, before S601, the method can further include S602, the second device transmits a second signal, and correspondingly, the first device receives the first signal.

[0147] The first signal can be a signal reflected, scattered or diffracted by a sensing target (e.g., a first sensing target) in the environment after the second signal (FIG. 6 takes reflection as an example), for example, the first signal can be a echo signal of the second signal. Optionally, the first signal and the second signal are the same signal, only after the sensing target reflection, scattering or diffraction, the transmission path of the second signal may have changed, so it is called the first signal. It can also be understood that the second device transmits the first signal, and the first device also receives the first signal, only the first signal received by the first device is the first signal reflected, scattered or diffracted by the sensing target.

[0148] In the embodiments of the present application, the first signal (or the second signal) can be the sensing signal introduced in the foregoing, for example, the first signal is used for sensing. Alternatively, the first signal (or the second signal) can be a communication-sensing fusion signal, for example, the first signal can be used for sensing and communication. Alternatively, the first signal (or the second signal) can also be a communication signal, for example, the first signal can be used for communication, for example, the first signal includes communication data. In the embodiments of the present application, even if the first signal is a communication signal, the first signal can also realize the sensing function. It can be seen that the embodiments of the present application do not limit the type or function of the first signal, therefore, the method provided by the embodiments of the present application can be a "sensing method", or can be a "communication method", or can be a "communication-sensing integrated method", or can be a "communication-sensing integrated method" (ISAC), etc. The type or name of the method provided by the embodiments of the present application is not limited.

[0149] The first device and the second device can be the same device, or can be different devices, and FIG. 6 takes the first device and the second device as different devices as an example.

[0150] In S601, the first device processes the first point cloud information according to a first density. The first density can be predefined by a protocol, preconfigured in the first device, or configured by another device, such as a perception network element. If the first density is configured by another device, the method can further include S603, in which the other device sends second information, and the first device receives the second information. The second information can indicate the first density. S603 can occur before S601 or S602. In S603, the first density is configured by a perception network element. If there are multiple devices for performing perception, such as multiple access network devices and / or multiple UEs, the first density configured for different devices can be the same or different. For example, the first density can be configured by a perception network element for a device. The perception network element can configure different densities for devices in different locations. The first density configured for a device can be determined according to a requirement of the perception network element for perception accuracy.

[0151] As an optional implementation, the second information can indicate the first density by one or more of the following: information of the first density, perception area information, perception accuracy information, perception resolution information, number of points, or number of coordinates.

[0152] The perception area information can indicate a perception area. It can be understood that the perception area information indicates that one point is included in the perception area. For example, the number of points corresponding to the first point cloud information can be determined according to the perception area indicated by the perception area information, so as to determine the first density according to the perception area information. For example, the perception area indicated by the perception area information is 1 m x 1 m, which means that one point is included in an area of 1 m2. If the number of points included in an area of 1 m2 in the second point cloud is greater than 1, the first device can cluster the second point cloud information to obtain the first point cloud information. For another example, the perception area indicated by the perception area information is 0.1 m x 0.1 m, which means that one point is included in an area of 0.01 m2.

[0153] The perception accuracy information can indicate a perception accuracy. The perception accuracy can be represented by a distance. It can be understood that the perception accuracy information indicates that one point is included in the perception accuracy. For example, the number of points corresponding to the first point cloud information can be determined according to the perception accuracy indicated by the perception accuracy information, so as to determine the first density according to the perception accuracy information. For example, the perception accuracy indicated by the perception accuracy information is 1 m, which means that one point is included in a distance of 1 m. If the number of points included in a distance of 1 m in the second point cloud is greater than 1, the first device can cluster the second point cloud information to obtain the first point cloud information.

[0154] The perception resolution information can indicate the perception resolution, which can also be reflected by the distance. It can be understood that the perception resolution indicated by the perception resolution information includes one point. For example, the number of points corresponding to the first point cloud information can be determined according to the perception resolution indicated by the perception resolution information, so that the first density can be determined by the perception resolution information. For example, the perception resolution indicated by the perception resolution information is 0.2 m, which means that one point is included within a distance of 0.2 m. For example, the number of points included within a distance of 0.2 m in the second point cloud is greater than 1, and the first device can cluster the second point cloud information to obtain the first point cloud information.

[0155] The number of points indicated by the second information is, for example, the number of points that the first point cloud corresponding to the first point cloud information should include. For example, the number of points indicated by the second information is 100, which means that the first point cloud should include 100 points. The number of coordinates indicated by the second information is, for example, the number of coordinates that the first point cloud information should include. For example, the number of points indicated by the second information is 100, which means that the first point cloud information should include 100 coordinates. Optionally, the number of points included in the first point cloud can be equal to the number of coordinates included in the first point cloud information, and the points included in the first point cloud can correspond to the coordinates included in the first point cloud information one by one. By determining the number of points and / or the number of coordinates, the first density can be determined.

[0156] The foregoing describes that the second information can indicate the first density by one or more of the above, that is, the second information indicates one or more of the above, but ultimately aims to indicate the first density by indicating one or more of the above. The first density determined by the first device according to the second information is also the first density. Equivalently, the content indicated by the second information can be consistent with the purpose of indication, for example, the information indicated is the first density, and the purpose of indication is to indicate the first density. Or, the content indicated by the second information can be inconsistent with the purpose of indication, for example, one or more of the perception accuracy information, the perception resolution information, the perception area information, the number of points, or the number of coordinates is indicated, and the purpose of indication is to indicate the first density.

[0157] Alternatively, the content indicated by the second information can be consistent with the purpose of the indication. For example, the second information can indicate one or more of the first density information, the sensing area information, the sensing accuracy information, the sensing resolution information, the number of points, or the number of coordinates, and the content indicated by the second information is consistent with the purpose of the indication. For example, if the second information indicates the sensing accuracy information, the purpose of the indication is to indicate the sensing accuracy, rather than indicating the first density by indicating the sensing accuracy; for another example, if the second information indicates the sensing resolution information, the purpose of the indication is to indicate the sensing resolution, rather than indicating the first density by indicating the sensing resolution. In this case, optionally, the "the first device determines the first point cloud information according to the measurement result of the received first signal and the first density" in S601 can be replaced by "the first device determines the first point cloud information according to the measurement result of the received first signal and the first parameter", and the first parameter can be the parameter indicated by the second information, for example, the first parameter can be replaced by one or more of the first density, the sensing area, the sensing accuracy, the sensing resolution, the number of points, or the number of coordinates. Herein, the second information indicates the first density by one or more of the above examples, and the first device determines the first point cloud information according to the first density is taken as an example in the description.

[0158] In S604, the first device sends the first information. Correspondingly, the sensing network element receives the first information.

[0159] The first information can indicate or include the first point cloud information. After determining the first point cloud information, the first device can send the first point cloud information to the sensing network element, so that the sensing network element can perform sensing according to the first point cloud information, for example, reconstruct the first sensing target according to the first point cloud information.

[0160] Optionally, in addition to indicating or including the first point cloud information, the first information can also indicate one or more of the following: the number of points corresponding to the first point cloud information (or, the number of coordinates included in the first point cloud information), the number of points corresponding to the second point cloud information (or, the number of coordinates included in the second point cloud information), the similarity of the first point cloud information to the first sensing target, whether the points corresponding to the first point cloud information are obtained by interpolation, the points corresponding to the first point cloud information obtained by interpolation, whether the points corresponding to the first point cloud information are (or, include) edge points, the edge points corresponding to the first point cloud information, the points of the first sensing target that do not participate in determining the first point cloud information, or the number of points of the first sensing target that do not participate in determining the first point cloud information. Alternatively, one or more of the above can also be included in other information, for example, the first device can also send the sixth information, the sixth information indicates one or more of the above, and the first information no longer indicates one or more of the above.

[0161] The sixth information and the first information can be the same information, or the sixth information and the first information can also be different information. If the sixth information and the first information are different information, the sixth information and the first information can be included in the same signaling, or can also be included in different signaling. If the sixth information and the first information are included in different signaling, S604 can occur before the sending step of the sixth information, or S604 can occur after the sending step of the sixth information, or S604 and the sending step of the sixth information can also occur at the same time. In addition, if the first information and the sixth information are the same information, or the first information and the sixth information are different signaling but included in the same signaling, S604 and the sending step of the sixth information can occur at the same time, or it is considered that S604 and the sending step of the sixth information are the same step.

[0162] The similarity of the first point cloud information to the first perception target, for example, can be represented by a probability or a likelihood of the first point cloud information. Optionally, the first device can determine the probability or the likelihood of the first point cloud information according to error information, for example, indicating an error when the first point cloud information is obtained according to the second point cloud information. The similarity of the first point cloud information to the first perception target, for example, represents a degree of difference between coordinates included in the first point cloud information and coordinates of real points on the first perception target. The higher the similarity, the more accurate the first point cloud information.

[0163] If the first device is to obtain the first point cloud information by interpolating the second point cloud information, optionally, the first information or the sixth information can indicate that the point corresponding to the first point cloud information is obtained by interpolation, and / or indicate the point corresponding to the first point cloud information obtained by interpolation. Alternatively, the first information or the sixth information can indicate that the coordinates included in the first point cloud information are obtained by interpolation, and / or indicate the coordinates included in the first point cloud information obtained by interpolation.

[0164] If the first device is not to obtain the first point cloud information by interpolating the second point cloud information, for example, the first device is to obtain the first point cloud information by clustering the second point cloud information, or the second point cloud information is the first point cloud information (for example, the first device does not process the second point cloud information), optionally, the first information or the sixth information can indicate that the point corresponding to the first point cloud information is not obtained by interpolation, or the first information or the sixth information can indicate that the coordinates included in the first point cloud information are not obtained by interpolation.

[0165] The points in the points corresponding to the first perception target and not participating in determining the first point cloud information, for example, include the M points or the M coordinates described in S601. Optionally, the first information can indicate the M points or the M coordinates. Although the first device considers that the M points or the M coordinates are not accurate enough, when the perception network element performs perception, it can combine other information in addition to the reporting information (for example, the first information) from the first device, for example, it can also combine the reporting information from other devices (for example, including access network equipment and / or UE, etc.). Therefore, the perception network element can determine whether the M points or the M coordinates are accurate according to more information. For example, the perception network element can determine that the M points or the M coordinates are relatively accurate by combining relatively rich information, and then the perception network element can take the M points or the M coordinates as reference information when performing perception on the first perception target; or the perception network element can also determine that the M points or the M coordinates are not accurate enough, and then the perception network element can not refer to the M points or the M coordinates when performing perception on the first perception target.

[0166] Optionally, among the points corresponding to the first point cloud information (for example, the points included in the first point cloud), the edge points of the first perception target can be included or can not be included. This will be introduced as follows. In various embodiments of the present application, the "edge point" of the perception target can also be referred to as the "edge point", "key point" or "important point" of the perception target, or can also have other names, which are not limited. This paper takes "edge point" as an example for introduction.

[0167] A, the points corresponding to the first point cloud information do not include the edge points of the first perception target. Among them, the edge points of the first perception target can be points located at the edge of the first perception target, for example, if the first perception target is a cube, the points located at the edge of the cube can be the edge points of the cube, and the points located on the surface of the cube can not be the edge points of the cube.

[0168] In this case, optionally, the first information can also include edge point cloud information corresponding to the first perception target, which is not included in the first point cloud information, for example, the first perception target corresponds to the first point cloud information and the edge point cloud information. Among them, the edge point cloud information corresponds to an edge point cloud, and the edge point cloud can include K3 points, which are all or part of the edge points of the first perception target, and K3 is a positive integer. The edge point cloud information can include the coordinates of the K3 points. For example, the first point cloud corresponding to the first point cloud information does not include the edge points of the first perception target, or the first point cloud corresponding to the first point cloud information includes non-edge points of the first perception target but does not include edge points of the first perception target.

[0169] Alternatively, the edge point cloud information can not be included in the first information, but included in the seventh information. For example, the first device can further send the seventh information, and the seventh information can indicate or include the edge point cloud information. The perception network element can receive the seventh information to obtain the edge point cloud information. The seventh information and the first information can be included in the same signaling, or can be included in different signaling. If the seventh information and the first information are included in different signaling, S604 can occur before the sending step of the seventh information, or S604 can occur after the sending step of the seventh information, or S604 and the sending step of the seventh information can occur at the same time.

[0170] Optionally, the density of the edge point cloud information can be different from the first density (or the density of the edge point cloud can be different from the first density). That is, the first device can report the first point cloud information (e.g., corresponding to the non-edge points of the first perception target) and the edge point cloud information according to different densities respectively. Among them, the edge points of the perception target are important for reconstructing the perception target, for example, the edge points of the perception target are also called key points or important points. Therefore, the first device can additionally report the edge point cloud information, so that the perception network element can obtain more abundant information of the edge points. Optionally, the first information or the seventh information can further indicate that the edge point cloud information corresponds to the edge of the first perception target, or indicate that the edge point cloud information includes the edge points of the first perception target. For example, the first information or the seventh information includes indication information, which can indicate that the edge point cloud information corresponds to the edge of the first perception target, or indicate that the edge point cloud information includes the edge points of the first perception target. Through the indication of the first information or the seventh information, the perception network element can know that the points corresponding to the edge point cloud information are edge points. Alternatively, the first information or the seventh information can not necessarily indicate that the edge point cloud information corresponds to the edge of the first perception target, for example, the format of the first information or the seventh information (or the format of the signaling carrying the first information or the seventh information) can indicate that the first information or the seventh information includes the point cloud information corresponding to the edge of the perception target.

[0171] In the perception, the more edge points of the perception target, the better the shape of the perception target can be represented, so that the perception network element can better reconstruct the perception target. Therefore, optionally, the density of the edge point cloud information (for example, the second density) can be greater than the first density, so that the perception network element can obtain more coordinates of the edge points to improve the perception accuracy. The second density can be predefined by a protocol, or determined by the first device, or preconfigured in the first device, or indicated by another device, for example, the perception network element. For example, the second density is indicated by the perception network element, and optionally, the perception network element can send third information, and correspondingly, the first device can receive the third information. The third information can indicate the second density, or the third information can indicate that the edge point cloud information of the first perception target is reported according to the second density. The first device can determine the second density according to the third information, or the first device can determine the density of the edge point cloud information of the first perception target according to the third information.

[0172] Alternatively, the third information sent by the perception network element can also not indicate the second density, but indicate that the edge point cloud information of the first perception target is not reported according to the first density. The first device can determine that the edge point cloud information of the first perception target is not reported according to the first density according to the third information, or the first device can determine that the density of the edge point cloud information of the first perception target is different from the first density according to the third information. In this case, the second density can be predefined by a protocol, or determined by the first device, or preconfigured in the first device, or the first device can not necessarily determine the second density, but can report the edge point cloud information determined according to the measurement result, that is, the first device can not determine the density of the edge point cloud information, but can directly report.

[0173] Optionally, the second information in S603 can also be sent by the perception network element, and the third information and the second information can be the same information, or the third information and the second information can be different information. If the third information and the second information are different information, the third information and the second information can be included in the same signaling, or can be included in different signaling. If the third information and the second information are included in different signaling, S603 can occur before the sending step of the third information, or S603 can occur after the sending step of the third information, or S603 and the sending step of the third information can occur at the same time. In addition, if the third information and the second information are the same information, or the third information and the second information are different signaling but included in the same signaling, S603 and the sending step of the third information can occur at the same time, or S603 and the sending step of the third information are considered as the same step.

[0174] The points corresponding to the first point cloud information do not include edge points of the first perception target, which means that the first device can report the first point cloud information and the edge point cloud information corresponding to the first perception target respectively, i.e., for the point cloud information of the first perception target, the first device does not report repeatedly but reports respectively, which is beneficial to reduce transmission overhead.

[0175] B. The points corresponding to the first point cloud information include edge points of the first perception target.

[0176] In this case, optionally, the first point cloud information can include edge point cloud information corresponding to the first perception target, for example, the edge point cloud information included in the first point cloud information is referred to as first edge point cloud information. The first point cloud information corresponds to a first point cloud, the first edge information corresponds to a first edge point cloud, and the first edge point cloud can include part or all of the edge points of the first perception target. The remaining point cloud in the first point cloud except the first edge point cloud can include part or all of the non-edge points of the first perception target. For example, the first point cloud includes all points corresponding to the first perception target.

[0177] The density of the first edge point cloud information and the density of the first point cloud information can be the same, both being the first density. Optionally, the first device can report the first point cloud information without additionally reporting the edge point cloud information, thereby reducing the amount of information reported by the first device to reduce transmission overhead.

[0178] Alternatively, the first device can report the first point cloud information, and the first device also reports edge point cloud information. The edge point cloud information additionally reported by the first device is referred to as second edge point cloud information. The second edge information corresponds to a second edge point cloud, and the second edge point cloud can include part or all of the edge points of the first perception target. It can be understood that the first edge point cloud information and the second edge point cloud information are both determined according to the edge points of the first perception target.

[0179] Optionally, the first information can also include second edge point cloud information, which is not included in the first point cloud information, for example, the first point cloud information and the edge point cloud information corresponding to the first perception target. For example, the first point cloud corresponding to the first point cloud information includes non-edge points of the first perception target and includes edge points of the first perception target; the second edge point cloud information corresponds to a second edge point cloud that includes edge points of the first perception target but does not include edge points of the first perception target.

[0180] Alternatively, the second edge point cloud information can also not be included in the first information, but included in the eighth information. For example, the first device can also send the eighth information, and the eighth information can indicate or include the second edge point cloud information. The perception network element can receive the eighth information to obtain the second edge point cloud information. The eighth information and the first information can be included in the same signaling or can be included in different signaling. If the eighth information and the first information are included in different signaling, S604 can occur before the sending step of the eighth information, or S604 can occur after the sending step of the eighth information, or S604 and the sending step of the eighth information can occur at the same time.

[0181] Optionally, the density of the second edge point cloud information can be different from the first density (or the density of the second edge point cloud can be different from the first density). That is, the first device can report the first point cloud information and the second edge point cloud information at different densities respectively. In addition to reporting the first point cloud information, the first device can also report the second edge point cloud information, so that the perception network element can obtain more information about the edge points of the first perception target. Optionally, the first information or the eighth information can also indicate that the second edge point cloud information corresponds to the edge of the first perception target, or indicate that the second edge point cloud information includes the edge points of the first perception target. For example, the first information or the eighth information includes indication information, which can indicate that the second edge point cloud information corresponds to the edge of the first perception target, or indicate that the second edge point cloud information includes the edge points of the first perception target. Through the indication of the first information or the eighth information, the perception network element can determine that the points corresponding to the second edge point cloud information are edge points. Alternatively, the first information or the eighth information can also not indicate that the second edge point cloud information corresponds to the edge of the first perception target. For example, the format of the first information or the eighth information (or the format of the signaling carrying the first information or the eighth information) can indicate that the first information or the eighth information includes point cloud information corresponding to the edge of the perception target.

[0182] Optionally, the density of the second edge point cloud information (for example, the second density) can be greater than the first density, so that the perception network element can obtain more coordinates of the edge points to improve the perception accuracy. For details about the second density, please refer to the foregoing description.

[0183] The points corresponding to the first point cloud information include the edge points of the first perception target. That is, the first device can report the first point cloud information including the first edge point cloud information at the first density, and also report the second edge point cloud information at the second density, so that the first point cloud information reported by the first device is more complete, which is conducive to the perception network element obtaining more complete point cloud information of the first perception target. In addition, the first device reports the second edge point cloud information at the second density, so that the perception network element can obtain more information about the edge points, which is conducive to improving the perception accuracy.

[0184] Optionally, the first device can report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application by default; or the first device can report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application in the case of meeting the first condition, and can not report the point cloud information corresponding to the first sensing target according to the manner of the embodiments of the present application if the condition is not met, for example, report the point cloud information corresponding to the first sensing target according to a traditional manner.

[0185] As an optional implementation of the first condition, the first condition includes, for example, that the first device receives fourth information. The fourth information is from a sensing network element or other devices, and the fourth information can indicate that the first point cloud information is determined based on the first density, or indicate that the fused and / or interpolated point cloud information is reported, etc. For example, the fourth information occupies one bit, if the value of the bit is “0”, it indicates that the first point cloud information is not determined based on the first density, or that the fused and / or interpolated point cloud information is not reported; or if the first device does not receive the fourth information, it means that the first point cloud information is not determined based on the first density, or that the fused and / or interpolated point cloud information is not reported. In this case, the first device can report the point cloud information corresponding to the first sensing target according to a traditional manner. Or, if the value of the bit is “1”, it indicates that the first point cloud information is determined based on the first density, or that the fused and / or interpolated point cloud information is reported; or if the first device receives the fourth information, it means that the first point cloud information is determined based on the first density, or that the fused and / or interpolated point cloud information is reported. In this case, the first device can report the point cloud information corresponding to the first sensing target according to the manner provided by the embodiments of the present application.

[0186] The sensing network element receives the first point cloud information (or receives the first point cloud information and the edge point cloud information; or receives the first point cloud information and the second edge point cloud information), and can perform sensing according to the received information, for example, reconstruct the first sensing target according to the received information, etc. Optionally, in addition to receiving the point cloud information from the first device, the sensing network element can also receive the point cloud information from other devices, and the sensing network element can combine the point cloud information from one or more devices when performing sensing, and the embodiments of the present application do not limit the behavior of the sensing network element.

[0187] In the embodiments of this application, the first device can determine the first point cloud information according to the first density, so that the amount of information of the first point cloud information can be controlled through the first density. For example, the first density can be set reasonably, so that the first point cloud information can be used to perceive the target object, and the amount of information of the first point cloud information can be minimized, thereby reducing the transmission overhead of the first point cloud information while ensuring the perception performance. In addition, the first device can determine the first point cloud information through clustering and / or interpolation, and the accuracy of the first point cloud information can be higher than that of the point cloud information (for example, the second point cloud information) initially obtained by the first device, thereby improving the perception accuracy.

[0188] The embodiments of this application can be applied to a single-station perception mode or a double-station perception mode. In order to facilitate understanding, the application of the embodiments of this application in the single-station perception mode and the double-station perception mode is introduced through several embodiments as follows. The several embodiments as follows can be regarded as examples of the embodiment shown in FIG. 6.

[0189] Please refer to FIG. 8, which is a flow chart of the application of the embodiments of this application in the single-station perception mode. In the embodiment shown in FIG. 8, the first device and the second device are taken as examples of access network devices, that is, the single-station perception mode is a self-perception mode of the access network devices.

[0190] S801, the sensing network element interacts with the access network device to obtain sensing capability information.

[0191] For example, the access network device can send the sensing capability information of the access network device to the sensing network element, and the sensing capability information can indicate whether the access network device has sensing capability. Optionally, the sensing capability information can also indicate whether the access network device supports reporting the sensing result (for example, including point cloud information) in the manner provided by the embodiments of this application.

[0192] Optionally, the sensing network element can also send information to the access network device, for example, indicating the adopted perception mode, for example, indicating the single-station perception mode.

[0193] Optionally, the sensing network element and the access network device can also not interact with the sensing capability information, for example, the sensing network element can know the sensing capability of the access network device in advance, or the sensing network element can consider that the sensing capability of the access network device is default, for example, having sensing capability by default.

[0194] S802, the sensing network element sends a sensing measurement request. Correspondingly, the access network device receives the sensing measurement request. Or the sensing measurement request can also have other names, for example, called the first request, etc., and the embodiments of this application do not limit the name.

[0195] The perception measurement request can request the access network device to measure a signal, or request the access network device to perform a perception task, or request the access network device to report a perception result, or request the access network device to report a perception result (for example, including point cloud information) in a manner provided by the embodiments of the present application, etc. Optionally, the perception measurement request can also indicate the adopted perception mode, for example, indicating the adoption of a single-station perception mode. Wherein, if the perception network element has indicated the perception mode to the access network device in S801, the perception measurement request can not have to indicate the perception mode again.

[0196] Optionally, the perception measurement request can also indicate the first density, for example, the perception measurement request includes the second information described in the embodiment shown in FIG. 6, in which case S802 can be the same step as S603 in the embodiment shown in FIG. 6. Alternatively, the first density can also be indicated by other messages sent by the perception network element, rather than by the perception measurement request (for example, the second information is included in other messages sent by the perception network element, rather than in the perception measurement request), in which case S802 can be a different step from S603 in the embodiment shown in FIG. 6.

[0197] Optionally, the perception measurement request can also indicate the determination of the first point cloud information based on the first density, or indicate the reporting of the fused and / or interpolated point cloud information, etc. For example, the perception measurement request includes the fourth information described in the embodiment shown in FIG. 6. Alternatively, the fourth information can also be included in other messages sent by the perception network element, rather than in the perception measurement request.

[0198] For the introduction of the contents of the second information, the fourth information, the first density, etc., reference can be made to the embodiment shown in FIG. 6.

[0199] S803, the access network device determines the first point cloud information according to the measurement result of the received first signal and the first density. Alternatively, S803 can also be understood as that the access network device determines the first point cloud information based on the measurement of the received first signal and the first density.

[0200] For example, the access network device can send a second signal, and receive a signal (FIG. 8 takes reflection as an example) of the second signal reflected, scattered or diffracted by a perception target in the environment, which is called a first signal. The access network device can determine the first point cloud information through the measurement of the first signal and the first density.

[0201] S803 can be the same step as S601 in the embodiment shown in FIG. 6, and more contents of S803 can be referred to the related introduction of S601.

[0202] S804, the access network device sends the first information. Correspondingly, the perception network element receives the first information.

[0203] S804 can be a same step as S604 in the embodiment shown in FIG. 6, and more content of S804 can be referred to the related introduction of S604.

[0204] Please refer to FIG. 9, which is a flow chart of a single-station sensing mode applied by the embodiment of the present application. In the embodiment shown in FIG. 9, the first device and the second device are both taken as UEs, i.e., the single-station sensing mode is a UE self-sensing mode.

[0205] S901, the sensing network element interacts with the UE to obtain sensing capability information.

[0206] For example, the UE can send the sensing capability information of the UE to the sensing network element, which can indicate whether the UE has the sensing capability. Optionally, the sensing capability information can also indicate whether the UE supports reporting the sensing result (e.g., including point cloud information) in the manner provided by the embodiment of the present application.

[0207] Optionally, the sensing network element can also send information to the UE, which can indicate the adopted sensing mode, for example, indicating the single-station sensing mode.

[0208] S901 is an optional step, and the sensing network element can also not interact with the UE to obtain the sensing capability information. For example, the sensing network element can know the sensing capability of the UE in advance, or the sensing network element can consider that the sensing capability of the UE is default, for example, having the sensing capability by default.

[0209] S902, the sensing network element sends a sensing measurement request. Correspondingly, the UE receives the sensing measurement request. Or the sensing measurement request can also have other names, for example, called the first request, etc., and the embodiment of the present application does not limit the name.

[0210] The sensing measurement request can request the UE to measure the signal, or request the UE to perform the sensing task, or request the UE to report the sensing result, or request the UE to report the sensing result (e.g., including point cloud information) in the manner provided by the embodiment of the present application, etc. Optionally, the sensing measurement request can also indicate the adopted sensing mode, for example, indicating the single-station sensing mode. Wherein, if the sensing network element has indicated the sensing mode to the UE in S901, the sensing measurement request can not have to indicate the sensing mode again.

[0211] Optionally, the perception measurement request can also indicate the first density, for example, the perception measurement request includes the second information in the embodiment shown in FIG. 6, in which case S902 can be the same step as S603 in the embodiment shown in FIG. 6. Alternatively, the first density can also be indicated by other messages sent by the perception network element, rather than by the perception measurement request (for example, the second information is included in other messages sent by the perception network element, rather than in the perception measurement request), in which case S902 can be a different step from S603 in the embodiment shown in FIG. 6.

[0212] Optionally, the perception measurement request can also indicate that the first point cloud information is determined based on the first density, or indicate that the fused and / or interpolated point cloud information is reported, etc. For example, the perception measurement request includes the fourth information in the embodiment shown in FIG. 6. Alternatively, the fourth information can also be included in other messages sent by the perception network element, rather than in the perception measurement request.

[0213] For more information about the second information, the fourth information, the first density, etc., please refer to the embodiment shown in FIG. 6.

[0214] S903, the UE determines the first point cloud information based on the measurement result of the received first signal and the first density. Alternatively, S903 can also be understood as the UE determining the first point cloud information based on the measurement of the received first signal and the first density.

[0215] For example, the UE can send a second signal, and receive a signal that is reflected, scattered or diffracted by a perception target in the environment (FIG. 9 takes reflection as an example), which is called a first signal. The UE can determine the first point cloud information by measuring the first signal and the first density.

[0216] Optionally, the resource used by the UE to send the second signal can be pre-configured, or can also be configured by the access network device. If the resource used by the UE to send the second signal is configured by the access network device, optionally, the perception network element can also send a second request to the access network device, which can be used to request the access network device to configure a resource for the UE, for example, a reference signal resource, which can be used by the UE to send the second signal. The step of the perception network element sending the second request can occur before S903, and after the UE determines the resource configured by the access network device, the UE can send the second signal on the resource.

[0217] S903 can be the same step as S601 in the embodiment shown in FIG. 6, and more information about S903 can be referred to the related introduction of S601.

[0218] S904, the UE sends the first information. Correspondingly, the perception network element receives the first information.

[0219] S904 can be a same step as S604 in the embodiment shown in FIG. 6, and more details of S904 can be referred to the related description of S604.

[0220] Please refer to FIG. 10, which is a flowchart of an embodiment of the present application applied to a two-station sensing mode. In the embodiment shown in FIG. 10, taking the first device as a UE and the second device as an access network device as an example, the two-station sensing mode is a sensing mode of UE sending and access network device receiving.

[0221] S1001, the sensing network element interacts with the UE and / or the access network device to obtain sensing capability information.

[0222] For example, the UE can send the sensing capability information of the UE to the sensing network element, for example, referred to as sensing capability information A; and / or, the access network device can send the sensing capability information of the access network device to the sensing network element, for example, referred to as sensing capability information B. The sensing capability information A can indicate whether the UE has sensing capability. The sensing capability information B can indicate whether the access network device has sensing capability. Optionally, the sensing capability information B can also indicate whether the access network device supports reporting sensing results (for example, including point cloud information) in the manner provided by the embodiments of the present application.

[0223] Optionally, the sensing network element can also send information to the UE and / or the access network device, for example, indicating the sensing mode adopted, for example, indicating that the single-station sensing mode is adopted.

[0224] S1001 is an optional step, and the sensing network element can also not interact with the UE to obtain sensing capability information. For example, the sensing network element can know the sensing capability of the UE in advance, or the sensing network element can consider that the sensing capability of the UE is default, for example, by default having sensing capability. The sensing network element can also not interact with the access network device to obtain sensing capability information. For example, the sensing network element can know the sensing capability of the access network device in advance, or the sensing network element can consider that the sensing capability of the access network device is default, for example, by default having sensing capability.

[0225] S1002, the sensing network element sends a sensing measurement request. Correspondingly, the access network device receives the sensing measurement request. Alternatively, the sensing measurement request can also have other names, for example, referred to as a first request, etc., and the embodiments of the present application do not limit the name. The embodiments of the present application are to perform sensing measurement by the access network device, and therefore the sensing network element can send the sensing measurement request to the access network device.

[0226] The perception measurement request can request the access network device to measure a signal (the signal is used for perception measurement), or request the access network device to configure a signal (for example, configure a signal for the UE, the signal is used for perception measurement), or request the access network device to perform a perception task, or request the access network device to report a perception result, or request the access network device to report a perception result (for example, including point cloud information) in the manner provided by the embodiments of the present application, and the like. For more information about the perception measurement request, refer to the related introduction of S802 in the embodiment shown in FIG. 8.

[0227] S1003, the access network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure a reference signal resource.

[0228] S1004, the UE sends a second signal. Correspondingly, the access network device receives the first signal.

[0229] The UE can send the second signal through the reference signal resource. The first signal can be a signal reflected, scattered or diffracted by the perception target in the environment (FIG. 10 takes reflection as an example)

[0230] S1005, the access network device determines first point cloud information according to the measurement result of the first signal and the first density. Or S1005 can also be understood as that the access network device determines the first point cloud information based on the measurement of the first signal and the first density.

[0231] S1005 can be the same step as S601 in the embodiment shown in FIG. 6, and more information about S1005 can be referred to the related introduction of S601.

[0232] S1006, the access network device sends first information. Correspondingly, the perception network element receives the first information.

[0233] S1006 can be the same step as S604 in the embodiment shown in FIG. 6, and more information about S1006 can be referred to the related introduction of S604.

[0234] Please refer to FIG. 11, which is a flowchart of the embodiment of the present application applied to a two-station perception mode. In the embodiment shown in FIG. 11, take the first device as an access network device and the second device as a UE as an example, that is, the two-station perception mode is a perception mode of access network device sending and UE receiving.

[0235] S1101, the perception network element interacts with the UE and / or the access network device to obtain perception capability information.

[0236] For example, the UE can send, to the perception network element, perception capability information of the UE, for example, referred to as perception capability information A; and / or, the access network device can send, to the perception network element, perception capability information of the access network device, for example, referred to as perception capability information B. The perception capability information A can indicate whether the UE has a perception capability. Optionally, the perception capability information A can also indicate whether the UE supports reporting a perception result (for example, including point cloud information) in a manner provided in embodiments of the present application. The perception capability information B can indicate whether the access network device has a perception capability.

[0237] For more details of S1101, refer to S1001 in the embodiment shown in FIG. 10.

[0238] S1102. The perception network element sends a perception measurement request. Correspondingly, the UE receives the perception measurement request. Alternatively, the perception measurement request can also have other names, for example, referred to as a first request, etc., and embodiments of the present application do not limit the name. Embodiments of the present application are to perform a perception measurement by the UE, and therefore the perception network element can send a perception measurement request to the UE.

[0239] The perception measurement request can request the UE to measure a signal (the signal is used for a perception measurement), or request the UE to configure a signal (for example, configure a signal for the UE, the signal is used for a perception measurement), or request the UE to perform a perception task, or request the UE to report a perception result, or request the UE to report a perception result (for example, including point cloud information) in a manner provided in embodiments of the present application, etc. For more details of the perception measurement request, refer to the related description of S902 in the embodiment shown in FIG. 9.

[0240] S1103. The access network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure a reference signal resource.

[0241] Optionally, the perception network element can also send information A to the access network device, and correspondingly, the access network device receives the information A. The information A can indicate that the access network device configures a signal or a resource, the signal is used for perception, and the resource carries a signal used for perception. This step, for example, occurs before S1103, and after the access network device receives the information A, S1103 can be performed.

[0242] S1104. The access network device sends a second signal. Correspondingly, the UE receives the first signal.

[0243] The access network device can send the second signal through the reference signal resource, and the UE can receive the first signal through the reference signal resource. The first signal can be a signal reflected, scattered or diffracted by a perception target in the environment (FIG. 11 takes reflection as an example)

[0244] S1105, the UE determines the first point cloud information based on the measurement result of the first signal and the first density. Alternatively, S1105 can also be understood as the UE determining the first point cloud information based on the measurement of the first signal and the first density.

[0245] S1105 and S601 in the embodiment shown in Figure 6 can be the same step. For more details on S1105, please refer to the relevant introduction of S601.

[0246] S1106, the UE sends the first information. Correspondingly, the sensing network element receives the first information.

[0247] S1106 and S604 in the embodiment shown in Figure 6 can be the same step. For more details on S1106, please refer to the relevant introduction of S604.

[0248] In summary, the first device in this embodiment can determine the first point cloud information based on the first density, thereby controlling the amount of information in the first point cloud information through the first density. For example, the first density can be set reasonably so that the first point cloud information can be used to sense the target object, while also minimizing the amount of information in the first point cloud information, thereby reducing the transmission overhead of the first point cloud information while ensuring sensing performance.

[0249] Optionally, in any of the embodiments shown in Figures 6 and 8-11, if the sensing network element indicates a first density to the UE (e.g., sends second information), and if the access network device is an ORAN architecture as shown in Figure 1A, taking the sensing network element as a core network device as an example, the sensing network element can send the second information to the access network device via the backhaul link shown in Figure 1A, and the second information is processed by the baseband unit in the access network device. For example, in the BBU, the CU sends the second information to the DU via the midhaul link, and then the DU sends the second information to the RU via the fronthaul link. The RU then sends the second information to the UE via the air interface. The DU and RU may or may not be co-located.

[0250] If the UE reports the first point cloud information (e.g., the first device is the UE), the UE can send the first information to the RU through the air interface, the RU can send the first information to the DU through the fronthaul link, the DU can send the first information to the CU through the midhaul link, and then the CU can send the first information to the core network equipment (e.g., the sensing network element) through the backhaul link.

[0251] Optionally, the transmission of the second and / or first information can occur at layer 3 (L). DUs and RUs can cooperate to implement the functions of the physical layer. A DU can be connected to one or more RUs. The functions of DUs and RUs can be configured in various ways depending on the design.

[0252] Alternatively, in the embodiment shown in any one of FIG. 6, FIG. 8-FIG. 11, if the sensing network element is to indicate the first density to the UE (e.g., to send the second information), and the access network device is the RAN chip architecture shown in FIG. IB, taking the core network device as the sensing network element for example, the second information from the sensing network element can be sent by the DU to the RU via the enhanced common public radio interface (eCPRI), and then sent by the RU to the UE over the air interface.

[0253] If the first point cloud information is reported by the UE (e.g., the first device is the UE), the UE can send the first information to the RU over the air interface, the RU sends the first information to the DU via the eCPRI interface, and the DU sends the first information to the sensing network element through the CU.

[0254] FIG. 12 shows a structural schematic diagram of a communication apparatus according to an embodiment of the present application. The communication apparatus 1200 can be the first device or the circuit system of the first device in the embodiment shown in FIG. 6, for implementing the method corresponding to the first device in the above method embodiments. Alternatively, the communication apparatus 1200 can be the access network device or the circuit system of the access network device in the embodiment shown in FIG. 8, for implementing the method corresponding to the access network device in the above method embodiments. Alternatively, the communication apparatus 1200 can be the UE or the circuit system of the UE in the embodiment shown in FIG. 9, for implementing the method corresponding to the UE in the above method embodiments. Alternatively, the communication apparatus 1200 can be the access network device or the circuit system of the access network device in the embodiment shown in FIG. 10, for implementing the method corresponding to the access network device in the above method embodiments. Alternatively, the communication apparatus 1200 can be the UE or the circuit system of the UE in the embodiment shown in FIG. 10, for implementing the method corresponding to the UE in the above method embodiments. Alternatively, the communication apparatus 1200 can be the access network device or the circuit system of the access network device in the embodiment shown in FIG. 11, for implementing the method corresponding to the access network device in the above method embodiments. Alternatively, the communication apparatus 1200 can be the UE or the circuit system of the UE in the embodiment shown in FIG. 11, for implementing the method corresponding to the UE in the above method embodiments. Alternatively, the communication apparatus 1200 can be the sensing network element or the circuit system of the sensing network element in the embodiment shown in any one of FIG. 3, FIG. 8-FIG. 11, for implementing the method corresponding to the sensing network element in the above method embodiments. For example, one of the circuit systems is a chip system.

[0255] The communication apparatus 1200 includes at least one processor 1201. The processor 1201 can be configured to perform internal processing of the apparatus, and implement certain control processing functions. Optionally, the processor 1201 includes instructions. Optionally, the processor 1201 can store data. Optionally, different processors can be independent devices, can be located in different physical locations, and can be located on different integrated circuits. Optionally, different processors can be integrated in one or more processors, for example, integrated on one or more integrated circuits.

[0256] Optionally, the communication apparatus 1200 includes one or more memories 1203 configured to store instructions. Optionally, the memories 1203 can also store data. The processor and the memory can be separately arranged, or integrated together.

[0257] Optionally, the communication apparatus 1200 includes a communication line 1202 and at least one communication interface 1204. Since the memory 1203, the communication line 1202 and the communication interface 1204 are optional, they are all represented by dashed lines in FIG. 12.

[0258] Optionally, the communication apparatus 1200 can also include a transceiver and / or an antenna. The transceiver can be configured to send information to other apparatuses or receive information from other apparatuses. The transceiver can be referred to as a transceiver, a transceiver circuit, an input / output interface, etc., and is configured to realize the transceiving function of the communication apparatus 1200 through the antenna. Optionally, the transceiver includes a transmitter and a receiver. Illustratively, the transmitter can be configured to generate a radio frequency signal from a baseband signal, and the receiver can be configured to convert a radio frequency signal into a baseband signal.

[0259] The processor 1201 can include a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits configured to control the execution of programs of the solutions of the present application.

[0260] The communication line 1202 can include a path for transmitting information between the above-mentioned components.

[0261] The communication interface 1204 uses any transceiver-like device for communicating with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area networks (WLAN), a wired access network, etc.

[0262] The memory 1203 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), or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory 1203 can exist independently, and be connected to the processor 1201 through the communication line 1202. Alternatively, the memory 1203 can be integrated with the processor 1201.

[0263] The memory 1203 is configured to store computer-executed instructions for implementing the solutions of the present application, and the processor 1201 is configured to control the execution of the computer-executed instructions stored in the memory 1203. The processor 1201 is configured to execute the computer-executed instructions stored in the memory 1203, so as to implement the steps performed by the first device or the sensing network element in the embodiment shown in FIG. 3.

[0264] Optionally, the computer-executed instructions in the embodiments of the present application can also be referred to as application program codes, and the embodiments of the present application are not limited in this regard.

[0265] In a specific implementation, as an embodiment, the processor 1201 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 12.

[0266] In a specific implementation, as an embodiment, the communication device 1200 can include multiple processors, such as the processor 1201 and the processor 1205 in FIG. 12. Each of these processors can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (for example, computer program instructions).

[0267] When the apparatus shown in FIG. 12 is a chip, for example, a chip of the first apparatus or a chip of the sensing network element (or, the first apparatus is a chip or the sensing network element is a chip), the chip includes the processor 1201 (and can also include the processor 1205), the communication line 1202, and the communication interface 1204, and optionally, the chip can include the memory 1203. Specifically, the communication interface 1204 can be an input interface, a pin, or a circuit, etc. The memory 1203 can be a register, a cache, etc. The processor 1201 and the processor 1205 can be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for executing programs for controlling the sensing method of any of the above embodiments.

[0268] The embodiments of the present application can divide the functions of the apparatus according to the above method examples, for example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be realized in the form of hardware or in the form of a software function module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. When each function module is divided according to each function, for example, FIG. 13 is a schematic diagram of an apparatus 1300, which can be the first apparatus or the sensing network element involved in each of the above method embodiments, or a chip in the first apparatus or a chip in the sensing network element, or the first apparatus is a chip or the sensing network element is a chip. The apparatus 1300 includes a processing unit 1302 and a transceiver unit 1301.

[0269] It should be understood that the apparatus 1300 can be used to implement the steps performed by the first apparatus or the sensing network element in the sensing method of the embodiments of the present application, and the related features can refer to the embodiment shown in FIG. 3 above, which will not be described here.

[0270] Optionally, the functions / implementation processes of the transceiver unit 1301 and the processing unit 1302 in FIG. 13 can be realized by the processor 1201 in FIG. 12 calling computer-executable instructions stored in the memory 1203. Alternatively, the functions / implementation processes of the processing unit 1302 in FIG. 13 can be realized by the processor 1201 in FIG. 12 calling computer-executable instructions stored in the memory 1203, and the functions / implementation processes of the transceiver unit 1301 in FIG. 13 can be realized by the communication interface 1204 in FIG. 12.

[0271] Optionally, when the apparatus 1300 is a chip or a circuit, the functions / implementation procedures of the transceiver unit 1301 can also be implemented by pins or circuits, etc. Optionally, the transceiver unit 1301 can include a sending unit and / or a receiving unit, the sending unit is used to implement the sending function, and the receiving unit is used to implement the receiving function; or the transceiver unit 1301 can be an integral module, which can implement the sending function and / or the receiving function. Optionally, the transceiver unit 1301 can be implemented by a transceiver.

[0272] Optionally, the structure of the access network device in the embodiments of the present application can also refer to FIG. 1A or FIG. 1B. For example, when the apparatus 1300 or the communication apparatus 1200 is an access network device, the apparatuses shown in any two or more of FIG. 1A, FIG. 1B, FIG. 12 and FIG. 13 can all be the access network device, and these figures can be understood as the multiple structure diagrams of the access network device.

[0273] The present application also provides a computer readable storage medium, which stores computer programs or instructions, when the computer programs or instructions are executed, the method executed by the first device or the sensing network element in the foregoing method embodiments is implemented. Thus, the functions described in the above embodiments can be implemented in the form of software function units and sold or used as independent products. Based on such understanding, the technical solutions of the present application can be embodied in the form of software product in essence or the part that contributes or the part of the technical solutions. The computer software product is stored in a storage medium, and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the embodiments of the present application. The storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage program codes.

[0274] The present application also provides a computer program product, which includes computer program codes, when the computer program codes are executed on a computer, the computer executes the method executed by the first device or the sensing network element in any of the foregoing method embodiments.

[0275] The embodiments of the present application also provide a processing apparatus, which includes a processor and an interface; the processor is used to execute the method executed by the first device or the sensing network element related to any of the foregoing method embodiments.

[0276] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the procedures or functions described in the embodiments of the present application are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from a website, a computer, a server or a data center to another website, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)) and the like.

[0277] The various illustrative logical blocks, modules, circuits, and algorithms described in connection with the embodiments disclosed herein can be implemented or performed by a general purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the described functions. The general purpose processor can be a microprocessor, optionally, the general purpose processor can also be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other similar configuration.

[0278] The steps of methods or algorithms described in the embodiments of the present application can be directly embedded in hardware, a software unit executed by a processor, or a combination of the two. The software unit can be stored in a RAM, a flash memory, a ROM, an erasable programmable read-only memory (EPROM), an EEPROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium in the art. The storage medium can be connected to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium can also be integrated into the processor. The processor and the storage medium can be located in an ASIC, which can be located in the terminal device. Alternatively, the processor and the storage medium can also be located in different components of the terminal device.

[0279] These computer program instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operations to be performed on the computer or other programmable data processing device to generate a computer implemented process, so that the instructions executed on the computer or other programmable data processing device provide steps for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0280] The contents of various embodiments of the present application can be mutually referred to, and the terms and / or descriptions between different embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0281] It can be understood that, in the embodiments of the present application, the first device and / or the perception network element can perform part or all of the steps in the embodiments of the present application. These steps or operations are only examples, and other operations or variations of various operations can also be performed in the embodiments of the present application. In addition, each step can be performed in a different order from that presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

Claims

1. A perception method, comprising: The method comprises: determining first point cloud information corresponding to a first sensing target according to a measurement result of a received first signal and a first density; sending first information, the first information comprising the first point cloud information.

2. The method of claim 1, wherein, The determination of the first point cloud information corresponding to the first sensing target according to the measurement result of the received first signal and the first density comprises: determining second point cloud information according to the measurement result; determining the first point cloud information according to the second point cloud information and the first density.

3. The method of claim 2, wherein, The first density is less than a density of the second point cloud information.

4. The method of claim 2, wherein the first density is less than a density of the second point cloud information, and the first point cloud information is obtained by clustering points corresponding to the second point cloud information; or the first density is greater than a density of the second point cloud information, and the first point cloud information is obtained by interpolating points corresponding to the second point cloud information.

5. The method according to any one of claims 2 to 4, characterized in that, The determination of the first point cloud information according to the second point cloud information and the first density comprises: removing M points from points corresponding to the second point cloud information, the M points having an accuracy lower than a first threshold, M being a positive integer; determining the first point cloud information satisfying the first density according to information of remaining points corresponding to the second point cloud information except for the M points.

6. The method according to any one of claims 1 to 5, characterized in that, The first information is further used to indicate one or more of: a number of points corresponding to the first point cloud information, a similarity between the first point cloud information and the first sensing target, whether the first point cloud information corresponds to points obtained by interpolation, points obtained by interpolation corresponding to the first point cloud information, or points of the first sensing target that do not participate in the determination of the first point cloud information.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: receiving second information, the second information being used to indicate the first density by one or more of: information of the first density; sensing accuracy information; sensing resolution information; or a number of points.

8. The method according to any one of claims 1 to 7, characterized in that, The first information further comprises edge point cloud information of the first sensing target, the edge point cloud information having a density different from the first density.

9. The method of claim 8, wherein, The method further comprises: receiving third information, wherein the third information is used to indicate that edge point cloud information of the first sensing target is not reported according to the first density; or the third information is used to indicate that edge point cloud information of the first sensing target is reported according to a second density, the second density being greater than the first density.

10. The method according to any one of claims 1 to 9, characterized in that, The first point cloud information comprises information of edge points, or the first point cloud information does not comprise information of edge points.

11. The method according to any one of claims 1 to 10, characterized in that, The method further comprises: receiving fourth information, the fourth information being used to indicate that the first point cloud information is determined based on the first density.

12. A perception method comprising: The method comprises: sending second information, the second information being used to indicate a first density; receiving first information, the first information comprising first point cloud information, the first point cloud information satisfying the first density, the first point cloud information being point cloud information corresponding to a first sensing target.

13. The method of claim 12, wherein, The second information is used to indicate the first density by one or more of: information of the first density; perception accuracy information; perception resolution information; or a number of points.

14. The method of claim 13, wherein, The method further includes: sending third information, wherein the third information is used to indicate that edge point cloud information of the first perception target is not reported according to the first density; or the third information is used to indicate that edge point cloud information of the first perception target is reported according to a second density, wherein the second density is greater than the first density.

15. The method according to any one of claims 12 to 14, characterized in that, The first information is further used to indicate one or more of: a number of points corresponding to the first point cloud information, a similarity of the first point cloud information to a first perception target, whether a point corresponding to the first point cloud information is obtained by interpolation, a point obtained by interpolation corresponding to the first point cloud information, or a point of the first perception target that does not participate in determining the first point cloud information.

16. The method according to any one of claims 12 to 15, characterized in that, The method further includes: sending fourth information, wherein the fourth information is used to indicate that the first point cloud information is determined based on the first density.

17. A perception system, comprising: The perception system includes a perception network element and an access network device, wherein the perception network element is configured to perform the method of any one of claims 12-16, and the access network device is configured to perform the method of any one of claims 1-11.

18. The perception system of claim 17, wherein the access network device is further configured to send the first signal, and is further configured to receive the first signal.

19. The perception system of claim 17 or 18, wherein, The perception system further includes a terminal device, wherein the terminal device is configured to perform the method of any one of claims 1-11.

20. The perception system of claim 19, wherein the terminal device is further configured to send the first signal.

21. The perception system of claim 20, wherein the terminal device is further configured to receive the first signal; or the access network device is further configured to receive the first signal.

22. The perception system of claim 19, wherein the access network device is further configured to send the first signal; and the terminal device is further configured to receive the first signal.

23. A communications device, characterized by The communication apparatus includes a module configured to perform the method of any one of claims 1-11, or a module configured to perform the method of any one of claims 12-16.

24. A communications device, characterized by The communication apparatus includes a processor configured to perform the method of any one of claims 1-11, or to perform the method of any one of claims 12-16.

25. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store a computer program, which, when executed on a computer, causes the method of any one of claims 1-11 to be performed, or causes the method of any one of claims 12-16 to be performed.

26. A computer program product, characterised in that, The computer program product includes a computer program, which, when executed on a computer, causes the computer to perform the method of any one of claims 1-11, or causes the computer to perform the method of any one of claims 12-16.

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